EigenMesh upgraded with inside check capability.
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tamasmeszaros
parent
7a677a673f
commit
e160cf3ffb
3 changed files with 95 additions and 27 deletions
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@ -639,12 +639,10 @@ double pinhead_mesh_intersect(const Vec3d& s_original,
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c(Y) + rpbcos * a(Y) + rpbsin * b(Y),
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c(Z) + rpbcos * a(Z) + rpbsin * b(Z));
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Vec3d n = (p - ps).normalized();
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phi = m.query_ray_hit(ps, n);
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// TODO: this should be an inside check
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if(phi < r_pin) phi = std::numeric_limits<double>::infinity();
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if(m.inside(ps) && m.inside(p)) {
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Vec3d n = (p - ps).normalized();
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phi = m.query_ray_hit(ps, n);
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} else phi = std::numeric_limits<double>::infinity();
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std::cout << "t = " << phi << std::endl;
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}
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@ -684,7 +682,8 @@ double bridge_mesh_intersect(const Vec3d& s_original,
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s(Y) + rcos * a(Y) + rsin * b(Y),
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s(Z) + rcos * a(Z) + rsin * b(Z));
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phi = m.query_ray_hit(p, dir);
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if(m.inside(p)) phi = m.query_ray_hit(p, dir);
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else phi = std::numeric_limits<double>::infinity();
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}
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auto mit = std::min_element(phis.begin(), phis.end());
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@ -1195,9 +1194,7 @@ bool SLASupportTree::generate(const PointSet &points,
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w,
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mesh);
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if(t > 2*w || std::isinf(t)) {
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// 2*w because of lower and upper pinhead
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if(t > w || std::isinf(t)) {
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head_pos.row(pcount) = hp;
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// save the verified and corrected normal
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@ -1269,17 +1266,59 @@ bool SLASupportTree::generate(const PointSet &points,
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for(unsigned i = 0; i < head_pos.rows(); i++) {
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tifcl();
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auto& head = result.heads()[i];
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auto& head = result.head(i);
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Vec3d dir(0, 0, -1);
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Vec3d startpoint = head.junction_point();
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bool accept = false;
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int ri = 1;
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double t = std::numeric_limits<double>::infinity();
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double hw = head.width_mm;
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double t = ray_mesh_intersect(startpoint, dir, mesh);
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while(!accept && head.width_mm > 0) {
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Vec3d startpoint = head.junction_point();
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// Collision detection
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t = bridge_mesh_intersect(startpoint, dir, head.r_back_mm, mesh);
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// Precise distance measurement
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double tprec = ray_mesh_intersect(startpoint, dir, mesh);
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if(std::isinf(tprec) && !std::isinf(t)) {
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// This is a damned case where the pillar melds into the model
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// but its center ray can reach the ground. We can not route
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// this to the ground nor to the model surface. We have to
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// modify the head or discard this support point.
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head.width_mm = hw + (ri % 2? -1 : 1) * ri * head.r_back_mm;
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} else {
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accept = true; t = tprec;
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auto id = head.id;
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// We need to regenerate the head geometry
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head = Head(head.r_back_mm,
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head.r_pin_mm,
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head.width_mm,
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head.penetration_mm,
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head.dir,
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head.tr);
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head.id = id;
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}
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ri++;
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}
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gndheight.emplace_back(t);
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if(std::isinf(t)) gndidx.emplace_back(i);
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else nogndidx.emplace_back(i);
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if(accept) {
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if(std::isinf(t)) gndidx.emplace_back(i);
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else nogndidx.emplace_back(i);
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} else {
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BOOST_LOG_TRIVIAL(warning) << "A support point at "
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<< head.tr.transpose()
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<< " had to be discarded as there is"
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<< " nowhere to route it.";
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head.invalidate();
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}
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}
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PointSet gnd(gndidx.size(), 3);
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@ -1321,7 +1360,6 @@ bool SLASupportTree::generate(const PointSet &points,
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double zstep = pillar_dist * std::tan(-cfg.tilt);
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ej(Z) = sj(Z) + zstep;
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// double chkd = ray_mesh_intersect(sj, dirv(sj, ej), emesh);
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double chkd = bridge_mesh_intersect(sj, dirv(sj, ej), pillar.r, emesh);
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double bridge_distance = pillar_dist / std::cos(-cfg.tilt);
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@ -1348,10 +1386,6 @@ bool SLASupportTree::generate(const PointSet &points,
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Vec3d bej(sj(X), sj(Y), ej(Z));
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// need to check collision for the cross stick
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// double backchkd = ray_mesh_intersect(bsj,
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// dirv(bsj, bej),
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// emesh);
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double backchkd = bridge_mesh_intersect(bsj,
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dirv(bsj, bej),
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pillar.r,
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@ -1365,7 +1399,6 @@ bool SLASupportTree::generate(const PointSet &points,
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}
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sj.swap(ej);
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ej(Z) = sj(Z) + zstep;
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// chkd = ray_mesh_intersect(sj, dirv(sj, ej), emesh);
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chkd = bridge_mesh_intersect(sj, dirv(sj, ej), pillar.r, emesh);
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}
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};
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@ -1444,7 +1477,7 @@ bool SLASupportTree::generate(const PointSet &points,
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// is distributed more effectively on the pillar.
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auto search_nearest =
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[&cfg, &result, &emesh, maxbridgelen, gndlvl]
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[&cfg, &result, &emesh, maxbridgelen, gndlvl, pradius]
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(SpatIndex& spindex, const Vec3d& jsh)
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{
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long nearest_id = -1;
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@ -1476,7 +1509,9 @@ bool SLASupportTree::generate(const PointSet &points,
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double d = distance(jp, jn);
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if(jn(Z) <= gndlvl || d > max_len) break;
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double chkd = ray_mesh_intersect(jp, dirv(jp, jn), emesh);
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double chkd = bridge_mesh_intersect(jp, dirv(jp, jn),
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pradius,
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emesh);
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if(chkd >= d) nearest_id = ne.second;
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spindex.remove(ne);
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@ -1695,10 +1730,15 @@ bool SLASupportTree::generate(const PointSet &points,
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Vec3d dir = {0, 0, -1};
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Vec3d sj = sp + R * n;
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double dist = ray_mesh_intersect(sj, dir, emesh);
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// This is only for checking
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double dist = bridge_mesh_intersect(sj, dir, R, emesh);
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if(std::isinf(dist) || std::isnan(dist) || dist < 2*R) continue;
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// This on the other hand will return the exact distance available
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// measured through the center of the stick.
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dist = ray_mesh_intersect(sj, dir, emesh);
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Vec3d ej = sj + (dist + HWIDTH_MM)* dir;
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result.add_compact_bridge(sp, ej, n, R);
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}
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@ -120,16 +120,21 @@ public:
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~EigenMesh3D();
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EigenMesh3D(const EigenMesh3D& other);
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// EigenMesh3D(EigenMesh3D&&) = default;
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EigenMesh3D& operator=(const EigenMesh3D&);
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// EigenMesh3D& operator=(EigenMesh3D&&) = default;
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inline double ground_level() const { return m_ground_level; }
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inline const Eigen::MatrixXd& V() const { return m_V; }
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inline const Eigen::MatrixXi& F() const { return m_F; }
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// Casting a ray on the mesh, returns the distance where the hit occures.
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double query_ray_hit(const Vec3d &s, const Vec3d &dir) const;
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// The signed distance from a point to the mesh. Outputs the distance,
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// the index of the triangle and the closest point in mesh coordinate space.
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std::tuple<double, unsigned, Vec3d> signed_distance(const Vec3d& p) const;
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bool inside(const Vec3d& p) const;
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};
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using PointSet = Eigen::MatrixXd;
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@ -3,6 +3,9 @@
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#include "SLA/SLABoilerPlate.hpp"
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#include "SLA/SLASpatIndex.hpp"
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// Workaround: IGL signed_distance.h will define PI in the igl namespace.
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#undef PI
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// HEAVY headers... takes eternity to compile
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// for concave hull merging decisions
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@ -12,6 +15,7 @@
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#include <igl/ray_mesh_intersect.h>
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#include <igl/point_mesh_squared_distance.h>
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#include <igl/remove_duplicate_vertices.h>
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#include <igl/signed_distance.h>
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#include "SLASpatIndex.hpp"
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#include "ClipperUtils.hpp"
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@ -19,6 +23,9 @@
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namespace Slic3r {
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namespace sla {
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// Bring back PI from the igl namespace
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using igl::PI;
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/* **************************************************************************
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* SpatIndex implementation
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* ************************************************************************** */
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@ -86,7 +93,10 @@ size_t SpatIndex::size() const
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* EigenMesh3D implementation
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* ****************************************************************************/
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class EigenMesh3D::AABBImpl: public igl::AABB<Eigen::MatrixXd, 3> {};
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class EigenMesh3D::AABBImpl: public igl::AABB<Eigen::MatrixXd, 3> {
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public:
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igl::WindingNumberAABB<Vec3d, Eigen::MatrixXd, Eigen::MatrixXi> windtree;
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};
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EigenMesh3D::EigenMesh3D(): m_aabb(new AABBImpl()) {}
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@ -128,6 +138,9 @@ EigenMesh3D::EigenMesh3D(const TriangleMesh& tmesh): m_aabb(new AABBImpl()) {
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// Build the AABB accelaration tree
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m_aabb->init(m_V, m_F);
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m_aabb->windtree.set_mesh(m_V, m_F);
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m_aabb->windtree.init();
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}
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EigenMesh3D::~EigenMesh3D() {}
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@ -153,6 +166,16 @@ double EigenMesh3D::query_ray_hit(const Vec3d &s, const Vec3d &dir) const
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return double(hit.t);
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}
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std::tuple<double, unsigned, Vec3d>
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EigenMesh3D::signed_distance(const Vec3d &/*p*/) const {
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// TODO: implement
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return std::make_tuple(0.0, 0, Vec3d());
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}
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bool EigenMesh3D::inside(const Vec3d &p) const {
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return m_aabb->windtree.inside(p);
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}
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/* ****************************************************************************
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* Misc functions
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* ****************************************************************************/
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