Merge branch 'tm_astar'

src/libslic3r/AStar.hpp

@@ -0,0 +1,182 @@
+#ifndef ASTAR_HPP
+#define ASTAR_HPP
+
+#include "libslic3r/Point.hpp"
+#include "libslic3r/MutablePriorityQueue.hpp"
+
+#include <unordered_map>
+
+namespace Slic3r { namespace astar {
+
+// Input interface for the Astar algorithm. Specialize this struct for a
+// particular type and implement all the 4 methods and specify the Node type
+// to register the new type for the astar implementation.
+template<class T> struct TracerTraits_
+{
+    // The type of a node used by this tracer. Usually a point in space.
+    using Node = typename T::Node;
+
+    // Call fn for every new node reachable from node 'src'. fn should have the
+    // candidate node as its only argument.
+    template<class Fn>
+    static void foreach_reachable(const T &tracer, const Node &src, Fn &&fn)
+    {
+        tracer.foreach_reachable(src, fn);
+    }
+
+    // Get the distance from node 'a' to node 'b'. This is sometimes referred
+    // to as the g value of a node in AStar context.
+    static float distance(const T &tracer, const Node &a, const Node &b)
+    {
+        return tracer.distance(a, b);
+    }
+
+    // Get the estimated distance heuristic from node 'n' to the destination.
+    // This is referred to as the h value in AStar context.
+    // If node 'n' is the goal, this function should return a negative value.
+    static float goal_heuristic(const T &tracer, const Node &n)
+    {
+        return tracer.goal_heuristic(n);
+    }
+
+    // Return a unique identifier (hash) for node 'n'.
+    static size_t unique_id(const T &tracer, const Node &n)
+    {
+        return tracer.unique_id(n);
+    }
+};
+
+// Helper definition to get the node type of a tracer
+template<class T>
+using TracerNodeT = typename TracerTraits_<remove_cvref_t<T>>::Node;
+
+namespace detail {
+// Helper functions dispatching calls through the TracerTraits_ interface
+
+template<class T> using TracerTraits = TracerTraits_<remove_cvref_t<T>>;
+
+template<class T, class Fn>
+void foreach_reachable(const T &tracer, const TracerNodeT<T> &from, Fn &&fn)
+{
+    TracerTraits<T>::foreach_reachable(tracer, from, fn);
+}
+
+template<class T>
+float trace_distance(const T &tracer, const TracerNodeT<T> &a, const TracerNodeT<T> &b)
+{
+    return TracerTraits<T>::distance(tracer, a, b);
+}
+
+template<class T>
+float goal_heuristic(const T &tracer, const TracerNodeT<T> &n)
+{
+    return TracerTraits<T>::goal_heuristic(tracer, n);
+}
+
+template<class T>
+size_t unique_id(const T &tracer, const TracerNodeT<T> &n)
+{
+    return TracerTraits<T>::unique_id(tracer, n);
+}
+
+} // namespace astar_detail
+
+// Run the AStar algorithm on a tracer implementation.
+// The 'tracer' argument encapsulates the domain (grid, point cloud, etc...)
+// The 'source' argument is the starting node.
+// The 'out' argument is the output iterator into which the output nodes are
+// written.
+// Note that no destination node is given. The tracer's goal_heuristic() method
+// should return a negative value if a node is a destination node.
+template<class Tracer, class It>
+bool search_route(const Tracer &tracer, const TracerNodeT<Tracer> &source, It out)
+{
+    using namespace detail;
+
+    using Node = TracerNodeT<Tracer>;
+    enum  class QueueType { Open, Closed, None };
+
+    struct QNode // Queue node. Keeps track of scores g, and h
+    {
+        Node      node;                    // The actual node itself
+        QueueType qtype = QueueType::None; // Which queue holds this node
+
+        float  g = 0.f, h = 0.f;
+        float f() const { return g + h; }
+    };
+
+       // TODO: apply a linear memory allocator
+    using QMap = std::unordered_map<size_t, QNode>;
+
+       // The traversed nodes are stored here encapsulated in QNodes
+    QMap cached_nodes;
+
+    struct LessPred { // Comparison functor needed by MutablePriorityQueue
+        QMap &m;
+        bool operator ()(size_t node_a, size_t node_b) {
+            auto ait = m.find(node_a);
+            auto bit = m.find(node_b);
+            assert (ait != m.end() && bit != m.end());
+
+            return ait->second.f() < bit->second.f();
+        }
+    };
+
+    auto qopen =
+        make_mutable_priority_queue<size_t, false>([](size_t, size_t){},
+                                                   LessPred{cached_nodes});
+
+    auto qclosed =
+        make_mutable_priority_queue<size_t, false>([](size_t, size_t){},
+                                                   LessPred{cached_nodes});
+
+    QNode initial{source, QueueType::Open};
+    cached_nodes.insert({unique_id(tracer, source), initial});
+    qopen.push(unique_id(tracer, source));
+
+    bool goal_reached = false;
+
+    while (!goal_reached && !qopen.empty()) {
+        size_t q_id = qopen.top();
+        qopen.pop();
+        QNode q = cached_nodes.at(q_id);
+
+        foreach_reachable(tracer, q.node, [&](const Node &nd) {
+            if (goal_reached) return goal_reached;
+
+            float h = goal_heuristic(tracer, nd);
+            if (h < 0.f) {
+                goal_reached = true;
+            } else {
+                float  dst = trace_distance(tracer, q.node, nd);
+                QNode  qnd{nd, QueueType::None, q.g + dst, h};
+                size_t qnd_id = unique_id(tracer, nd);
+
+                auto it = cached_nodes.find(qnd_id);
+
+                if (it == cached_nodes.end() ||
+                    (it->second.qtype != QueueType::None && qnd.f() < it->second.f())) {
+                    qnd.qtype = QueueType::Open;
+                    cached_nodes.insert_or_assign(qnd_id, qnd);
+                    qopen.push(qnd_id);
+                }
+            }
+
+            return goal_reached;
+        });
+
+        q.qtype = QueueType::Closed;
+        cached_nodes.insert_or_assign(q_id, q);
+        qclosed.push(q_id);
+
+           // write the output
+        *out = q.node;
+        ++out;
+    }
+
+    return goal_reached;
+}
+
+}} // namespace Slic3r::astar
+
+#endif // ASTAR_HPP

src/libslic3r/CMakeLists.txt

@@ -17,6 +17,7 @@ endif()
 set(SLIC3R_SOURCES
     pchheader.cpp
     pchheader.hpp
+    AStar.hpp
     BoundingBox.cpp
     BoundingBox.hpp
     BridgeDetector.cpp

src/libslic3r/PointGrid.hpp

@@ -32,9 +32,9 @@ public:
     }
 
     Vec3i get_coord(size_t idx) const {
-        size_t iz = idx / XY;
+        int iz = idx / XY;
-        size_t iy = (idx / m_size.x()) % m_size.y();
+        int iy = (idx / m_size.x()) % m_size.y();
-        size_t ix = idx % m_size.x();
+        int ix = idx % m_size.x();
 
         return {ix, iy, iz};
     }
@@ -59,9 +59,9 @@ PointGrid<CoordT> point_grid(Ex                                      policy,
     size_t XY = numpts[X] * numpts[Y];
 
     execution::for_each(policy, size_t(0), out.size(), [&](size_t i) {
-        size_t iz = i / XY;
+        int iz = i / XY;
-        size_t iy = (i / numpts[X]) % numpts[Y];
+        int iy = (i / numpts[X]) % numpts[Y];
-        size_t ix = i % numpts[X];
+        int ix = i % numpts[X];
 
         out[i] = Vec<3, CoordT>(ix * stride.x(), iy * stride.y(), iz * stride.z());
     });

tests/libslic3r/CMakeLists.txt

@@ -26,6 +26,7 @@ add_executable(${_TEST_NAME}_tests
     test_png_io.cpp
     test_timeutils.cpp
     test_indexed_triangle_set.cpp
+    test_astar.cpp
     ../libnest2d/printer_parts.cpp
 	)
 

tests/libslic3r/test_astar.cpp

@@ -0,0 +1,71 @@
+#include <catch2/catch.hpp>
+
+#include "libslic3r/BoundingBox.hpp"
+#include "libslic3r/AStar.hpp"
+#include "libslic3r/Execution/ExecutionSeq.hpp"
+#include "libslic3r/PointGrid.hpp"
+
+using namespace Slic3r;
+
+struct PointGridTracer {
+    using Node = size_t;
+    const PointGrid<float> &grid;
+    size_t final;
+
+    PointGridTracer(const PointGrid<float> &g, size_t goal) :
+        grid{g}, final{goal} {}
+
+    template<class Fn>
+    void foreach_reachable(size_t from, Fn &&fn) const
+    {
+        Vec3i from_crd = grid.get_coord(from);
+        REQUIRE(grid.get_idx(from_crd) == from);
+
+        if (size_t i = grid.get_idx(from_crd + Vec3i{ 1,  0,  0}); i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{ 0,  1,  0}); i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{ 0,  0,  1}); i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{ 1,  1,  0}); i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{ 0,  1,  1}); i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{ 1,  1,  1}); i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{-1,  0,  0}); from_crd.x() > 0 && i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, -1,  0}); from_crd.y() > 0 && i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{ 0,  0, -1}); from_crd.z() > 0 && i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{-1, -1,  0}); from_crd.x() > 0 && from_crd.y() > 0 && i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, -1, -1}); from_crd.y() > 0 && from_crd.z() && i < grid.point_count()) fn(i);
+        if (size_t i = grid.get_idx(from_crd + Vec3i{-1, -1, -1}); from_crd.x() > 0 && from_crd.y() > 0 && from_crd.z() && i < grid.point_count()) fn(i);
+
+    }
+
+    float distance(size_t a, size_t b) const
+    {
+        return (grid.get(a) - grid.get(b)).squaredNorm();
+    }
+
+    float goal_heuristic(size_t n) const
+    {
+        return n == final ? -1.f : (grid.get(n) - grid.get(final)).squaredNorm();
+    }
+
+    size_t unique_id(size_t n) const { return n; }
+};
+
+TEST_CASE("astar algorithm test over 3D point grid", "[AStar]") {
+    auto vol = BoundingBox3Base<Vec3f>{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}};
+
+    auto pgrid = point_grid(ex_seq, vol, {0.1f, 0.1f, 0.1f});
+
+    size_t target = pgrid.point_count() - 1;
+
+    std::cout << "Tracing route to " << pgrid.get_coord(target).transpose() << std::endl;
+    PointGridTracer pgt{pgrid, pgrid.point_count() - 1};
+    std::vector<size_t> out;
+    bool found = astar::search_route(pgt, size_t(0), std::back_inserter(out));
+
+    std::cout << "Route taken: ";
+    for (size_t i : out) {
+        std::cout << "(" << pgrid.get_coord(i).transpose() << ") ";
+    }
+    std::cout << std::endl;
+
+    REQUIRE(found);
+}