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Some code cleanup in MotionPlanner

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This commit is contained in:
Alessandro Ranellucci 2013-05-17 20:03:38 +02:00
parent ba433822b6
commit e33ca54943
2 changed files with 36 additions and 28 deletions
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58
lib/Slic3r/GCode/MotionPlanner.pm
View file

@ -10,6 +10,7 @@ has '_contours_ex' => (is => 'rw', default => sub { [] }); # arrayref of array
has '_pointmap' => (is => 'rw', default => sub { {} }); # { id => $point }
has '_edges' => (is => 'rw', default => sub { {} }); # node_idx => { node_idx => distance, ... }
has '_crossing_edges' => (is => 'rw', default => sub { {} }); # edge_idx => bool
has '_tolerance' => (is => 'lazy');
use List::Util qw(first);
use Slic3r::Geometry qw(A B scale epsilon nearest_point);
@ -30,31 +31,14 @@ use constant CROSSING_FACTOR => 20;
use constant INFINITY => 'inf';
sub _build__tolerance { scale epsilon }
# setup our configuration space
sub BUILD {
my $self = shift;
my $edges = $self->_edges;
my $crossing_edges = $self->_crossing_edges;
my $tolerance = scale epsilon;
# given an expolygon, this subroutine connects all its visible points
my $add_expolygon = sub {
my ($expolygon, $crosses_perimeter) = @_;
my @points = map @$_, @$expolygon;
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, $tolerance)) {
my $dist = $line->length * ($crosses_perimeter ? CROSSING_FACTOR : 1);
$edges->{$points[$i]}{$points[$j]} = $dist;
$edges->{$points[$j]}{$points[$i]} = $dist;
$crossing_edges->{$points[$i]}{$points[$j]} = 1;
$crossing_edges->{$points[$j]}{$points[$i]} = 1;
}
}
}
};
# simplify islands
@{$self->islands} = map $_->simplify($self->_inner_margin), @{$self->islands};
@ -81,19 +65,14 @@ sub BUILD {
);
# lines enclosed in inner expolygons are visible
$add_expolygon->($_) for @{ $self->_inner->[$i] };
$self->_add_expolygon($_) for @{ $self->_inner->[$i] };
# lines enclosed in expolygons covering perimeters are visible
# (but discouraged)
$add_expolygon->($_, 1) for @{ $self->_contours_ex->[$i] };
$self->_add_expolygon($_, 1) for @{ $self->_contours_ex->[$i] };
}
}
my $intersects = sub {
my ($polygon, $line) = @_;
@{Boost::Geometry::Utils::polygon_multi_linestring_intersection([$polygon], [$line])} > 0;
};
{
my @outer = (map @$_, @{$self->_outer});
@ -112,7 +91,7 @@ sub BUILD {
for my $m (0 .. $#{$outer[$i]}) {
for my $n (0 .. $#{$outer[$j]}) {
my $line = Slic3r::Line->new($outer[$i][$m], $outer[$j][$n]);
if (!first { $intersects->($_, $line) } @outer) {
if (!first { $_->intersects_line($line) } @outer) {
# this line does not cross any polygon
my $dist = $line->length;
$edges->{$outer[$i][$m]}{$outer[$j][$n]} = $dist;
@ -132,7 +111,7 @@ sub BUILD {
for my $m (0 .. $#{$inner[$i]}) {
for my $n (0 .. $#{$inner[$j]}) {
my $line = Slic3r::Line->new($inner[$i][$m], $inner[$j][$n]);
if (!first { $intersects->($_, $line) } @inner) {
if (!first { $_->intersects_line($line) } @inner) {
# this line does not cross any polygon
my $dist = $line->length * CROSSING_FACTOR;
$edges->{$inner[$i][$m]}{$inner[$j][$n]} = $dist;
@ -183,6 +162,29 @@ sub BUILD {
}
}
# given an expolygon, this subroutine connects all its visible points
sub _add_expolygon {
my $self = shift;
my ($expolygon, $crosses_perimeter) = @_;
my $edges = $self->_edges;
my $crossing_edges = $self->_crossing_edges;
my @points = map @$_, @$expolygon;
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, $self->_tolerance)) {
my $dist = $line->length * ($crosses_perimeter ? CROSSING_FACTOR : 1);
$edges->{$points[$i]}{$points[$j]} = $dist;
$edges->{$points[$j]}{$points[$i]} = $dist;
$crossing_edges->{$points[$i]}{$points[$j]} = 1;
$crossing_edges->{$points[$j]}{$points[$i]} = 1;
}
}
}
}
sub find_node {
my $self = shift;
my ($point, $near_to) = @_;

6
lib/Slic3r/Polygon.pm
View file

@ -172,4 +172,10 @@ sub split_at_first_point {
return $self->split_at_index(0);
}
sub intersects_line {
my $self = shift;
my ($line) = @_;
return @{Boost::Geometry::Utils::polygon_multi_linestring_intersection([$self], [$line])} > 0;
}
1;