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Better implementation of the external motion planner

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This commit is contained in:
Alessandro Ranellucci 2012-08-23 21:10:04 +02:00
parent 27090f83bd
commit c98e9515ed
4 changed files with 46 additions and 28 deletions
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12
lib/Slic3r/ExPolygon.pm
View file

@ -6,7 +6,7 @@ use warnings;
use Boost::Geometry::Utils;
use Math::Geometry::Voronoi;
use Slic3r::Geometry qw(X Y A B point_in_polygon same_line scale epsilon);
use Slic3r::Geometry qw(X Y A B point_in_polygon same_line line_length scale epsilon);
use Slic3r::Geometry::Clipper qw(union_ex JT_MITER);
# the constructor accepts an array of polygons
@ -110,10 +110,14 @@ sub encloses_point_quick {
sub encloses_line {
my $self = shift;
my ($line) = @_;
my ($line, $tolerance) = @_;
my $clip = $self->clip_line($line);
return @$clip == 1 && abs($line->length - Slic3r::Geometry::line_length($clip->[0])) < scale epsilon;
if (!defined $tolerance) {
# optimization
return @$clip == 1 && same_line($clip->[0], $line);
} else {
return @$clip == 1 && abs(line_length($clip->[0]) - $line->length) < $tolerance;
}
}
sub point_on_segment {

33
lib/Slic3r/GCode.pm
View file

@ -11,8 +11,10 @@ has 'shift_y' => (is => 'rw', default => sub {0} );
has 'z' => (is => 'rw', default => sub {0} );
has 'speed' => (is => 'rw');
has 'motionplanner' => (is => 'rw');
has 'straight_once' => (is => 'rw');
has 'external_mp' => (is => 'rw');
has 'layer_mp' => (is => 'rw');
has 'new_object' => (is => 'rw', default => sub {0});
has 'straight_once' => (is => 'rw', default => sub {1});
has 'extruder_idx' => (is => 'rw');
has 'extrusion_distance' => (is => 'rw', default => sub {0} );
has 'elapsed_time' => (is => 'rw', default => sub {0} ); # seconds
@ -76,7 +78,7 @@ sub change_layer {
$self->layer($layer);
if ($Slic3r::Config->avoid_crossing_perimeters) {
$self->motionplanner(Slic3r::GCode::MotionPlanner->new(
$self->layer_mp(Slic3r::GCode::MotionPlanner->new(
islands => union_ex([ map @{$_->expolygon}, @{$layer->slices} ], undef, 1),
));
}
@ -216,13 +218,32 @@ sub travel_to {
my ($point, $comment) = @_;
return "" if points_coincide($self->last_pos, $point);
my $gcode = "";
if ($Slic3r::Config->avoid_crossing_perimeters && $self->last_pos->distance_to($point) > scale 5 && !$self->straight_once) {
return join '', map $self->G0($_->b, undef, 0, $comment || ""),
$self->motionplanner->shortest_path($self->last_pos, $point)->lines;
my $plan = sub {
my $mp = shift;
return join '',
map $self->G0($_->b, undef, 0, $comment || ""),
$mp->shortest_path($self->last_pos, $point)->lines;
};
if ($self->new_object) {
my @shift = ($self->shift_x, $self->shift_y);
$self->set_shift(0,0);
$point->translate(map scale $_, @shift);
$gcode .= $plan->($self->external_mp);
$self->new_object(0);
$self->set_shift(@shift);
} else {
$gcode .= $plan->($self->layer_mp);
}
} else {
$self->straight_once(0);
return $self->G0($point, undef, 0, $comment || "");
$gcode .= $self->G0($point, undef, 0, $comment || "");
}
return $gcode;
}
sub retract {

2
lib/Slic3r/GCode/MotionPlanner.pm
View file

@ -45,7 +45,7 @@ sub BUILD {
for my $i (0 .. $#points) {
for my $j (($i+1) .. $#points) {
my $line = Slic3r::Line->new($points[$i], $points[$j]);
if ($expolygon->encloses_line($line, scale Slic3r::Geometry::epsilon)) {
if ($expolygon->encloses_line($line, $tolerance)) {
my $dist = $line->length * ($crosses_perimeter ? CROSSING_FACTOR : 1);
$edges->{$points[$i]}{$points[$j]} = $dist;
$edges->{$points[$j]}{$points[$i]} = $dist;

27
lib/Slic3r/Print.pm
View file

@ -614,7 +614,6 @@ sub write_gcode {
);
# initialize a motion planner for object-to-object travel moves
my $external_motionplanner;
if ($Slic3r::Config->avoid_crossing_perimeters) {
my $distance_from_objects = 1;
# compute the offsetted convex hull for each object and repeat it for each copy.
@ -622,15 +621,15 @@ sub write_gcode {
foreach my $obj_idx (0 .. $#{$self->objects}) {
my @island = Slic3r::ExPolygon->new(convex_hull([
map @{$_->expolygon->contour}, map @{$_->slices}, @{$self->objects->[$obj_idx]->layers},
]))->translate(map -$_, @shift)->offset_ex(scale $distance_from_objects);
]))->translate(scale $shift[X], scale $shift[Y])->offset_ex(scale $distance_from_objects, 1, JT_SQUARE);
foreach my $copy (@{$self->copies->[$obj_idx]}) {
push @islands, map $_->clone->translate(@$copy), @island;
}
}
$external_motionplanner = Slic3r::GCode::MotionPlanner->new(
$gcodegen->external_mp(Slic3r::GCode::MotionPlanner->new(
islands => union_ex([ map @$_, @islands ]),
no_internal => 1,
);
));
}
# prepare the logic to print one layer
@ -663,6 +662,7 @@ sub write_gcode {
$gcode .= $gcodegen->extrude_loop($_, 'skirt') for @{$self->skirt};
}
$skirt_done++;
$gcodegen->straight_once(1);
}
# extrude brim
@ -670,27 +670,18 @@ sub write_gcode {
$gcodegen->set_shift(@shift);
$gcode .= $gcodegen->extrude_loop($_, 'brim') for @{$self->brim};
$brim_done = 1;
$gcodegen->straight_once(1);
}
for my $obj_copy (@$object_copies) {
my ($obj_idx, $copy) = @$obj_copy;
$gcodegen->new_object(1) if $last_obj_copy && $last_obj_copy ne "${obj_idx}_${copy}";
my $layer = $self->objects->[$obj_idx]->layers->[$layer_id];
# retract explicitely because changing the shift_[xy] properties below
# won't always trigger the automatic retraction
$gcode .= $gcodegen->retract;
# travel to the first perimeter point using the external motion planner
if ($external_motionplanner && @{ $layer->perimeters } && !$gcodegen->straight_once && $last_obj_copy ne "${obj_idx}_${copy}") {
$gcodegen->set_shift(@shift);
my $layer_mp = $gcodegen->motionplanner;
$gcodegen->motionplanner($external_motionplanner);
my $first_perimeter = $layer->perimeters->[0]->unpack;
my $target = $first_perimeter->polygon->[0]->clone->translate(@$copy);
$gcode .= $gcodegen->travel_to($target, "move to first perimeter point");
$gcodegen->motionplanner($layer_mp);
}
$gcodegen->set_shift(
$shift[X] + unscale $copy->[X],
$shift[Y] + unscale $copy->[Y],
@ -773,8 +764,10 @@ sub write_gcode {
# this happens before Z goes down to layer 0 again, so that
# no collision happens hopefully.
if ($finished_objects > 0) {
$gcodegen->shift_x($shift[X] + unscale $copy->[X]);
$gcodegen->shift_y($shift[Y] + unscale $copy->[Y]);
$gcodegen->set_shift(
$shift[X] + unscale $copy->[X],
$shift[Y] + unscale $copy->[Y],
);
print $fh $gcodegen->retract;
print $fh $gcodegen->G0(Slic3r::Point->new(0,0), undef, 0, 'move to origin position for next object');
}