3DPrinting/PrusaSlicer-NonPlainar
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Try to fix pillar route search

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This commit is contained in:
tamasmeszaros 2022-11-28 18:23:34 +01:00
parent 3d6bb38dd4
commit cdac790163
4 changed files with 59 additions and 40 deletions
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31
src/libslic3r/Optimize/NLoptOptimizer.hpp
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@ -141,7 +141,9 @@ protected:
} }
template<size_t N> template<size_t N>
void set_up(NLopt &nl, const Bounds<N>& bounds) static void set_up(NLopt &nl,
const Bounds<N> &bounds,
const StopCriteria &stopcr)
{ {
std::array<double, N> lb, ub; std::array<double, N> lb, ub;
@ -153,15 +155,15 @@ protected:
nlopt_set_lower_bounds(nl.ptr, lb.data()); nlopt_set_lower_bounds(nl.ptr, lb.data());
nlopt_set_upper_bounds(nl.ptr, ub.data()); nlopt_set_upper_bounds(nl.ptr, ub.data());
double abs_diff = m_stopcr.abs_score_diff(); double abs_diff = stopcr.abs_score_diff();
double rel_diff = m_stopcr.rel_score_diff(); double rel_diff = stopcr.rel_score_diff();
double stopval = m_stopcr.stop_score(); double stopval = stopcr.stop_score();
if(!std::isnan(abs_diff)) nlopt_set_ftol_abs(nl.ptr, abs_diff); if(!std::isnan(abs_diff)) nlopt_set_ftol_abs(nl.ptr, abs_diff);
if(!std::isnan(rel_diff)) nlopt_set_ftol_rel(nl.ptr, rel_diff); if(!std::isnan(rel_diff)) nlopt_set_ftol_rel(nl.ptr, rel_diff);
if(!std::isnan(stopval)) nlopt_set_stopval(nl.ptr, stopval); if(!std::isnan(stopval)) nlopt_set_stopval(nl.ptr, stopval);
if(m_stopcr.max_iterations() > 0) if(stopcr.max_iterations() > 0)
nlopt_set_maxeval(nl.ptr, m_stopcr.max_iterations()); nlopt_set_maxeval(nl.ptr, stopcr.max_iterations());
} }
template<class Fn, size_t N, class...EqFns, class...IneqFns> template<class Fn, size_t N, class...EqFns, class...IneqFns>
@ -211,7 +213,7 @@ public:
const std::tuple<IneqFns...> &inequalities) const std::tuple<IneqFns...> &inequalities)
{ {
NLopt nl{alg, N}; NLopt nl{alg, N};
set_up(nl, bounds); set_up(nl, bounds, m_stopcr);
return optimize(nl, std::forward<Func>(func), initvals, return optimize(nl, std::forward<Func>(func), initvals,
equalities, inequalities); equalities, inequalities);
@ -230,6 +232,7 @@ template<nlopt_algorithm glob, nlopt_algorithm loc>
class NLoptOpt<NLoptAlgComb<glob, loc>>: public NLoptOpt<NLoptAlg<glob>> class NLoptOpt<NLoptAlgComb<glob, loc>>: public NLoptOpt<NLoptAlg<glob>>
{ {
using Base = NLoptOpt<NLoptAlg<glob>>; using Base = NLoptOpt<NLoptAlg<glob>>;
StopCriteria m_loc_stopcr;
public: public:
template<class Fn, size_t N, class...EqFns, class...IneqFns> template<class Fn, size_t N, class...EqFns, class...IneqFns>
@ -241,15 +244,20 @@ public:
{ {
NLopt nl_glob{glob, N}, nl_loc{loc, N}; NLopt nl_glob{glob, N}, nl_loc{loc, N};
Base::set_up(nl_glob, bounds); Base::set_up(nl_glob, bounds, Base::get_criteria());
Base::set_up(nl_loc, bounds); Base::set_up(nl_loc, bounds, m_loc_stopcr);
nlopt_set_local_optimizer(nl_glob.ptr, nl_loc.ptr); nlopt_set_local_optimizer(nl_glob.ptr, nl_loc.ptr);
return Base::optimize(nl_glob, std::forward<Fn>(f), initvals, return Base::optimize(nl_glob, std::forward<Fn>(f), initvals,
equalities, inequalities); equalities, inequalities);
} }
explicit NLoptOpt(StopCriteria stopcr = {}) : Base{stopcr} {} explicit NLoptOpt(StopCriteria stopcr = {})
: Base{stopcr}, m_loc_stopcr{stopcr}
{}
void set_loc_criteria(const StopCriteria &cr) { m_loc_stopcr = cr; }
const StopCriteria &get_loc_criteria() const noexcept { return m_loc_stopcr; }
}; };
} // namespace detail; } // namespace detail;
@ -285,6 +293,9 @@ public:
const StopCriteria &get_criteria() const { return m_opt.get_criteria(); } const StopCriteria &get_criteria() const { return m_opt.get_criteria(); }
void seed(long s) { m_opt.seed(s); } void seed(long s) { m_opt.seed(s); }
void set_loc_criteria(const StopCriteria &cr) { m_opt.set_loc_criteria(cr); }
const StopCriteria &get_loc_criteria() const noexcept { return m_opt.get_loc_criteria(); }
}; };
// Predefinded NLopt algorithms // Predefinded NLopt algorithms

2
src/libslic3r/SLA/SupportTree.hpp
View File

@ -105,7 +105,7 @@ struct SupportTreeConfig
static const double constexpr max_solo_pillar_height_mm = 15.0; 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 max_dual_pillar_height_mm = 35.0;
static const double constexpr optimizer_rel_score_diff = 1e-10; static const double constexpr optimizer_rel_score_diff = 1e-10;
static const unsigned constexpr optimizer_max_iterations = 2000; static const unsigned constexpr optimizer_max_iterations = 30000;
static const unsigned constexpr pillar_cascade_neighbors = 3; static const unsigned constexpr pillar_cascade_neighbors = 3;
}; };

60
src/libslic3r/SLA/SupportTreeUtils.hpp
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@ -492,17 +492,24 @@ GroundConnection deepsearch_ground_connection(
// Score is the total lenght of the route. Feasible routes will have // Score is the total lenght of the route. Feasible routes will have
// infinite length (rays not colliding with model), thus the stop score // infinite length (rays not colliding with model), thus the stop score
// should be a reasonably big number. // should be a reasonably big number.
constexpr double StopScore = 1e6; constexpr double Penality = 1e5;
constexpr double PenOffs = 1e2;
const auto sd = sm.cfg.safety_distance(source.r); const auto sd = sm.cfg.safety_distance(source.r);
const auto gndlvl = ground_level(sm); const auto gndlvl = ground_level(sm);
auto criteria = get_criteria(sm.cfg).stop_score(StopScore); auto criteria = get_criteria(sm.cfg);
criteria.abs_score_diff(1.);
criteria.rel_score_diff(0.1);
criteria.max_iterations(5000);
Optimizer<opt::AlgNLoptMLSL> solver(criteria); Optimizer<opt::AlgNLoptMLSL> solver(criteria);
solver.set_loc_criteria(criteria.max_iterations(100).abs_score_diff(1.));
solver.seed(0); // enforce deterministic behavior solver.seed(0); // enforce deterministic behavior
size_t icnt = 0;
auto optfn = [&](const opt::Input<3> &input) { auto optfn = [&](const opt::Input<3> &input) {
++icnt;
double ret = NaNd; double ret = NaNd;
// solver suggests polar, azimuth and bridge length values: // solver suggests polar, azimuth and bridge length values:
@ -511,7 +518,7 @@ GroundConnection deepsearch_ground_connection(
Vec3d n = spheric_to_dir(plr, azm); Vec3d n = spheric_to_dir(plr, azm);
Vec3d bridge_end = source.pos + bridge_len * n; Vec3d bridge_end = source.pos + bridge_len * n;
double full_len = bridge_len + bridge_end.z() - gndlvl; double down_l = bridge_end.z() - gndlvl;
double bridge_r = wideningfn(Ball{source.pos, source.r}, n, bridge_len); double bridge_r = wideningfn(Ball{source.pos, source.r}, n, bridge_len);
double brhit_dist = 0.; double brhit_dist = 0.;
@ -524,7 +531,7 @@ GroundConnection deepsearch_ground_connection(
} }
if (brhit_dist < bridge_len) { if (brhit_dist < bridge_len) {
ret = brhit_dist; ret = brhit_dist + Penality;
} else { } else {
// check if pillar can be placed below // check if pillar can be placed below
auto gp = Vec3d{bridge_end.x(), bridge_end.y(), gndlvl}; auto gp = Vec3d{bridge_end.x(), bridge_end.y(), gndlvl};
@ -532,28 +539,27 @@ GroundConnection deepsearch_ground_connection(
Beam gndbeam {{bridge_end, bridge_r}, {gp, end_radius}}; Beam gndbeam {{bridge_end, bridge_r}, {gp, end_radius}};
auto gndhit = beam_mesh_hit(policy, sm.emesh, gndbeam, sd); auto gndhit = beam_mesh_hit(policy, sm.emesh, gndbeam, sd);
double gnd_hit_d = std::min(gndhit.distance(), down_l);
double penality = 0.;
if (std::isinf(gndhit.distance())) { if (!std::isinf(gndhit.distance()))
// Ground route is free with this bridge penality = Penality;
else if (sm.cfg.object_elevation_mm < EPSILON) {
if (sm.cfg.object_elevation_mm < EPSILON) { // Dealing with zero elevation mode, to not route pillars
// Dealing with zero elevation mode, to not route pillars // into the gap between the optional pad and the model
// into the gap between the optional pad and the model double gap = std::sqrt(sm.emesh.squared_distance(gp));
double gap = std::sqrt(sm.emesh.squared_distance(gp)); double base_r = std::max(sm.cfg.base_radius_mm, end_radius);
double base_r = std::max(sm.cfg.base_radius_mm, end_radius); double min_gap = sm.cfg.pillar_base_safety_distance_mm + base_r;
double max_gap = sm.cfg.pillar_base_safety_distance_mm + base_r; if (gap < min_gap) {
if (gap < max_gap) penality = Penality + PenOffs * (min_gap - gap);
ret = full_len - max_gap + gap;
else // success
ret = StopScore + EPSILON;
} else {
// No zero elevation, return success
ret = StopScore + EPSILON;
} }
} else { // gnd_hit_d += std::max(0., min_gap - gap); //penality = Penality + 100000. * (min_gap - gap);
// Ground route is not free // if (gap < min_gap) {
ret = bridge_len + gndhit.distance(); // penality = Penality;
// }
} }
ret = bridge_len + gnd_hit_d + penality;
} }
return ret; return ret;
@ -564,7 +570,7 @@ GroundConnection deepsearch_ground_connection(
// Saturate the polar angle to max tilt defined in config // Saturate the polar angle to max tilt defined in config
plr_init = std::max(plr_init, PI - sm.cfg.bridge_slope); plr_init = std::max(plr_init, PI - sm.cfg.bridge_slope);
auto oresult = solver.to_max().optimize( auto oresult = solver.to_min().optimize(
optfn, optfn,
initvals({plr_init, azm_init, 0.}), // start with a zero bridge initvals({plr_init, azm_init, 0.}), // start with a zero bridge
bounds({ {PI - sm.cfg.bridge_slope, PI}, // bounds for polar angle bounds({ {PI - sm.cfg.bridge_slope, PI}, // bounds for polar angle
@ -572,10 +578,12 @@ GroundConnection deepsearch_ground_connection(
{0., sm.cfg.max_bridge_length_mm} }) // bounds bridge length {0., sm.cfg.max_bridge_length_mm} }) // bounds bridge length
); );
std::cout << "iters: " << icnt << std::endl;
GroundConnection conn; GroundConnection conn;
if (oresult.score >= StopScore) { if (oresult.score < Penality) {
// search was successful, extract and apply the result // Extract and apply the result
auto &[plr, azm, bridge_len] = oresult.optimum; auto &[plr, azm, bridge_len] = oresult.optimum;
Vec3d n = spheric_to_dir(plr, azm); Vec3d n = spheric_to_dir(plr, azm);

6
tests/sla_print/sla_supptreeutils_tests.cpp
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@ -177,7 +177,7 @@ TEST_CASE("Avoid disk below junction", "[suptreeutils]")
sla::SupportableMesh sm{disk, sla::SupportPoints{}, cfg}; sla::SupportableMesh sm{disk, sla::SupportPoints{}, cfg};
SECTION("without elevation") { SECTION("with elevation") {
sla::GroundConnection conn = sla::GroundConnection conn =
sla::deepsearch_ground_connection(ex_seq, sm, j, EndRadius, sla::DOWN); sla::deepsearch_ground_connection(ex_seq, sm, j, EndRadius, sla::DOWN);
@ -191,7 +191,7 @@ TEST_CASE("Avoid disk below junction", "[suptreeutils]")
REQUIRE(pR + FromRadius > CylRadius); REQUIRE(pR + FromRadius > CylRadius);
} }
SECTION("with elevation") { SECTION("without elevation") {
sm.cfg.object_elevation_mm = 0.; sm.cfg.object_elevation_mm = 0.;
sla::GroundConnection conn = sla::GroundConnection conn =
@ -234,7 +234,7 @@ TEST_CASE("Avoid disk below junction with barrier on the side", "[suptreeutils]"
sla::SupportableMesh sm{disk, sla::SupportPoints{}, cfg}; sla::SupportableMesh sm{disk, sla::SupportPoints{}, cfg};
SECTION("without elevation") { SECTION("with elevation") {
sla::GroundConnection conn = sla::GroundConnection conn =
sla::deepsearch_ground_connection(ex_seq, sm, j, EndRadius, sla::DOWN); sla::deepsearch_ground_connection(ex_seq, sm, j, EndRadius, sla::DOWN);