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Improvements to widening strategy and branch length limitations

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Also some refactoring
This commit is contained in:
tamasmeszaros 2022-05-13 13:56:35 +02:00
parent ae23adff10
commit fd8fd77077
5 changed files with 108 additions and 71 deletions
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38
src/libslic3r/BranchingTree/BranchingTree.cpp
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@ -22,7 +22,7 @@ bool build_tree(PointCloud &nodes, Builder &builder)
ptsqueue.pop();
Node node = nodes.get(node_id);
nodes.remove_node(node_id);
nodes.mark_unreachable(node_id);
distances.clear();
distances.reserve(nodes.reachable_count());
@ -53,10 +53,21 @@ bool build_tree(PointCloud &nodes, Builder &builder)
switch (type) {
case BED: {
closest_node.weight = w;
if ((routed = builder.add_ground_bridge(node, closest_node))) {
if (closest_it->distance > nodes.properties().max_branch_length()) {
auto hl_br_len = float(nodes.properties().max_branch_length()) / 2.f;
Node new_node {{node.pos.x(), node.pos.y(), node.pos.z() - hl_br_len}, node.Rmin};
new_node.id = int(nodes.next_junction_id());
new_node.weight = nodes.get(node_id).weight + nodes.properties().max_branch_length();
new_node.left = node.id;
if ((routed = builder.add_bridge(node, new_node))) {
size_t new_idx = nodes.insert_junction(new_node);
ptsqueue.push(new_idx);
}
}
else if ((routed = builder.add_ground_bridge(node, closest_node))) {
closest_node.left = closest_node.right = node_id;
nodes.get(closest_node_id) = closest_node;
nodes.remove_node(closest_node_id);
nodes.mark_unreachable(closest_node_id);
}
break;
@ -66,12 +77,12 @@ bool build_tree(PointCloud &nodes, Builder &builder)
if ((routed = builder.add_mesh_bridge(node, closest_node))) {
closest_node.left = closest_node.right = node_id;
nodes.get(closest_node_id) = closest_node;
nodes.remove_node(closest_node_id);
nodes.mark_unreachable(closest_node_id);
}
break;
}
case SUPP:
case LEAF:
case JUNCTION: {
auto max_slope = float(properties.max_slope());
@ -96,7 +107,7 @@ bool build_tree(PointCloud &nodes, Builder &builder)
size_t new_idx = nodes.insert_junction(mergenode);
ptsqueue.push(new_idx);
ptsqueue.remove(nodes.get_queue_idx(closest_node_id));
nodes.remove_node(closest_node_id);
nodes.mark_unreachable(closest_node_id);
}
} else if (closest_node.left == Node::ID_NONE ||
closest_node.right == Node::ID_NONE)
@ -138,4 +149,19 @@ bool build_tree(const indexed_triangle_set & its,
return build_tree(nodes, builder);
}
ExPolygon make_bed_poly(const indexed_triangle_set &its)
{
auto bb = bounding_box(its);
BoundingBox bbcrd{scaled(to_2d(bb.min)), scaled(to_2d(bb.max))};
bbcrd.offset(scaled(10.));
Point min = bbcrd.min, max = bbcrd.max;
ExPolygon ret = {{min.x(), min.y()},
{max.x(), min.y()},
{max.x(), max.y()},
{min.x(), max.y()}};
return ret;
}
}} // namespace Slic3r::branchingtree

21
src/libslic3r/BranchingTree/BranchingTree.hpp
View File

@ -16,7 +16,7 @@ class Properties
double m_max_slope = PI / 4.;
double m_ground_level = 0.;
double m_sampling_radius = .5;
double m_max_branch_len = 20.;
double m_max_branch_len = 10.;
ExPolygons m_bed_shape;
@ -67,11 +67,11 @@ struct Node
int id = ID_NONE, left = ID_NONE, right = ID_NONE;
Vec3f pos;
float Rmin;
float Rmin = 0.f;
// Tracking the weight of each junction, which is essentially the sum of
// the lenghts of all branches emanating from this junction.
float weight;
float weight = 0.f;
Node(const Vec3f &p, float r_min = .0f) : pos{p}, Rmin{r_min}, weight{0.f}
{}
@ -137,20 +137,7 @@ inline bool build_tree(const indexed_triangle_set & its,
//bool build_tree(PointCloud &pcloud, Builder &builder);
// Helper function to derive a bed polygon only from the model bounding box.
inline ExPolygon make_bed_poly(const indexed_triangle_set &its)
{
auto bb = bounding_box(its);
BoundingBox bbcrd{scaled(to_2d(bb.min)), scaled(to_2d(bb.max))};
bbcrd.offset(scaled(10.));
Point min = bbcrd.min, max = bbcrd.max;
ExPolygon ret = {{min.x(), min.y()},
{max.x(), min.y()},
{max.x(), max.y()},
{min.x(), max.y()}};
return ret;
}
ExPolygon make_bed_poly(const indexed_triangle_set &its);
}} // namespace Slic3r::branchingtree

66
src/libslic3r/BranchingTree/PointCloud.cpp
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@ -109,72 +109,82 @@ std::vector<Node> sample_bed(const ExPolygons &bed, float z, double radius)
}
PointCloud::PointCloud(const indexed_triangle_set &M,
std::vector<Node> support_leafs,
std::vector<Node> support_leafs,
const Properties &props)
: PointCloud{sample_mesh(M, props.sampling_radius()),
sample_bed(props.bed_shape(),
props.ground_level(),
props.sampling_radius()),
std::move(support_leafs), props}
{}
PointCloud::PointCloud(std::vector<Node> meshpts,
std::vector<Node> bedpts,
std::vector<Node> support_leafs,
const Properties &props)
: m_leafs{std::move(support_leafs)}
, m_meshpoints{sample_mesh(M, props.sampling_radius())}
, m_bedpoints{sample_bed(props.bed_shape(),
props.ground_level(),
props.sampling_radius())}
, m_meshpoints{std::move(meshpts)}
, m_bedpoints{std::move(bedpts)}
, m_props{props}
, cos2bridge_slope{std::cos(props.max_slope()) *
std::abs(std::cos(props.max_slope()))}
, MESHPTS_BEGIN{m_bedpoints.size()}
, SUPP_BEGIN{MESHPTS_BEGIN + m_meshpoints.size()}
, JUNCTIONS_BEGIN{SUPP_BEGIN + m_leafs.size()}
, LEAFS_BEGIN{MESHPTS_BEGIN + m_meshpoints.size()}
, JUNCTIONS_BEGIN{LEAFS_BEGIN + m_leafs.size()}
, m_searchable_indices(JUNCTIONS_BEGIN, true)
, m_queue_indices(JUNCTIONS_BEGIN, UNQUEUED)
, m_reachable_cnt{JUNCTIONS_BEGIN}
, m_ktree{CoordFn{this}, SUPP_BEGIN} // Only for bed and mesh points
, m_ktree{CoordFn{this}, LEAFS_BEGIN} // Only for bed and mesh points
{
for (size_t i = 0; i < m_bedpoints.size(); ++i)
m_bedpoints[i].id = int(i);
for (size_t i = 0; i < m_meshpoints.size(); ++i)
m_meshpoints[i].id = int(MESHPTS_BEGIN + i);
for (size_t i = 0; i < m_leafs.size(); ++i)
m_leafs[i].id = int(SUPP_BEGIN + i);
m_leafs[i].id = int(LEAFS_BEGIN + i);
}
float PointCloud::get_distance(const Vec3f &p, size_t node)
float PointCloud::get_distance(const Vec3f &p, size_t node_id) const
{
auto t = get_type(node);
auto t = get_type(node_id);
auto ret = std::numeric_limits<float>::infinity();
const auto &node = get(node_id);
switch (t) {
case MESH:
case BED: {
// Points of mesh or bed which are outside of the support cone of
// 'pos' must be discarded.
if (is_outside_support_cone(p, get(node).pos))
if (is_outside_support_cone(p, node.pos))
ret = std::numeric_limits<float>::infinity();
else
ret = (get(node).pos - p).norm();
ret = (node.pos - p).norm();
break;
}
case SUPP:
case LEAF:
case JUNCTION:{
auto mergept = find_merge_pt(p, get(node).pos, m_props.max_slope());
if (!mergept || mergept->z() < (m_props.ground_level() + 2 * get(node).Rmin))
auto mergept = find_merge_pt(p, node.pos, m_props.max_slope());
if (!mergept || mergept->z() < (m_props.ground_level() + 2 * node.Rmin))
ret = std::numeric_limits<float>::infinity();
else
else if ( (node.pos - *mergept).norm() < m_props.max_branch_length())
ret = (p - *mergept).norm();
break;
}
case NONE:
;
}
// Setting the ret val to infinity will effectively discard this
// connection of nodes. max_branch_length property if used here
// to discard node=>node and node=>mesh connections longer than this
// property.
// Setting the ret val to infinity will effectively discard this
// connection of nodes. max_branch_length property if used here
// to discard node=>node and node=>mesh connections longer than this
// property.
if (t != BED && ret > m_props.max_branch_length())
ret = std::numeric_limits<float>::infinity();
return ret;
}

45
src/libslic3r/BranchingTree/PointCloud.hpp
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@ -1,8 +1,11 @@
#ifndef POINTCLOUD_HPP
#define POINTCLOUD_HPP
#include <optional>
#include "BranchingTree.hpp"
#include "libslic3r/Execution/Execution.hpp"
#include "libslic3r/KDTreeIndirect.hpp"
#include "libslic3r/MutablePriorityQueue.hpp"
@ -16,14 +19,13 @@ void to_eigen_mesh(const indexed_triangle_set &its,
Eigen::MatrixXd &V,
Eigen::MatrixXi &F);
std::vector<Node> sample_mesh(const indexed_triangle_set &its,
double radius);
std::vector<Node> sample_mesh(const indexed_triangle_set &its, double radius);
std::vector<Node> sample_bed(const ExPolygons &bed,
float z,
double radius = 1.);
enum PtType { SUPP, MESH, BED, JUNCTION, NONE };
enum PtType { LEAF, MESH, BED, JUNCTION, NONE };
// A cloud of points including support points, mesh points, junction points
// and anchor points on the bed. Junction points can be added or removed, all
@ -34,7 +36,7 @@ class PointCloud {
const branchingtree::Properties &m_props;
const double cos2bridge_slope;
const size_t MESHPTS_BEGIN, SUPP_BEGIN, JUNCTIONS_BEGIN;
const size_t MESHPTS_BEGIN, LEAFS_BEGIN, JUNCTIONS_BEGIN;
private:
@ -57,7 +59,7 @@ private:
KDTreeIndirect<3, float, CoordFn> m_ktree;
bool is_outside_support_cone(const Vec3f &supp, const Vec3f &pt)
bool is_outside_support_cone(const Vec3f &supp, const Vec3f &pt) const
{
Vec3d D = (pt - supp).cast<double>();
double dot_sq = -D.z() * std::abs(-D.z());
@ -75,7 +77,7 @@ private:
switch(pc.get_type(id)) {
case BED: ret = &pc.m_bedpoints[id]; break;
case MESH: ret = &pc.m_meshpoints[id - pc.MESHPTS_BEGIN]; break;
case SUPP: ret = &pc.m_leafs [id - pc.SUPP_BEGIN]; break;
case LEAF: ret = &pc.m_leafs [id - pc.LEAFS_BEGIN]; break;
case JUNCTION: ret = &pc.m_junctions[id - pc.JUNCTIONS_BEGIN]; break;
case NONE: assert(false);
}
@ -99,13 +101,18 @@ public:
std::vector<Node> support_leafs,
const Properties & props);
PointCloud(std::vector<Node> meshpts,
std::vector<Node> bedpts,
std::vector<Node> support_leafs,
const Properties &props);
PtType get_type(size_t node_id) const
{
PtType ret = NONE;
if (node_id < MESHPTS_BEGIN && !m_bedpoints.empty()) ret = BED;
else if (node_id < SUPP_BEGIN && !m_meshpoints.empty()) ret = MESH;
else if (node_id < JUNCTIONS_BEGIN && !m_leafs.empty()) ret = SUPP;
else if (node_id < LEAFS_BEGIN && !m_meshpoints.empty()) ret = MESH;
else if (node_id < JUNCTIONS_BEGIN && !m_leafs.empty()) ret = LEAF;
else if (node_id >= JUNCTIONS_BEGIN && !m_junctions.empty()) ret = JUNCTION;
return ret;
@ -128,14 +135,14 @@ public:
// node id is indeed of type SUPP
int get_leaf_id(size_t node_id) const
{
return node_id >= SUPP_BEGIN && node_id < JUNCTIONS_BEGIN ?
node_id - SUPP_BEGIN :
return node_id >= LEAFS_BEGIN && node_id < JUNCTIONS_BEGIN ?
node_id - LEAFS_BEGIN :
Node::ID_NONE;
}
size_t get_queue_idx(size_t node_id) const { return m_queue_indices[node_id]; }
float get_distance(const Vec3f &p, size_t node);
float get_distance(const Vec3f &p, size_t node) const;
size_t next_junction_id() const
{
@ -154,7 +161,13 @@ public:
return new_id;
}
void remove_node(size_t node_id)
const std::vector<Node> &get_junctions() const noexcept { return m_junctions; }
const std::vector<Node> &get_bedpoints() const noexcept { return m_bedpoints; }
const std::vector<Node> &get_meshpoints() const noexcept { return m_meshpoints; }
const std::vector<Node> &get_leafs() const noexcept { return m_leafs; }
const Properties & properties() const noexcept { return m_props; }
void mark_unreachable(size_t node_id)
{
m_searchable_indices[node_id] = false;
m_queue_indices[node_id] = UNQUEUED;
@ -175,7 +188,7 @@ public:
if (anchor != m_ktree.npos)
visitor(anchor, get_distance(pos, anchor));
for (size_t i = SUPP_BEGIN; i < m_searchable_indices.size(); ++i)
for (size_t i = LEAFS_BEGIN; i < m_searchable_indices.size(); ++i)
if (m_searchable_indices[i])
visitor(i, get_distance(pos, i));
}
@ -187,14 +200,12 @@ public:
ZCompareFn{this});
ptsqueue.reserve(m_leafs.size());
size_t iend = SUPP_BEGIN + m_leafs.size();
for (size_t i = SUPP_BEGIN; i < iend; ++i)
size_t iend = LEAFS_BEGIN + m_leafs.size();
for (size_t i = LEAFS_BEGIN; i < iend; ++i)
ptsqueue.push(i);
return ptsqueue;
}
const Properties & properties() const { return m_props; }
};
template<class PC, class Fn> void traverse(PC &&pc, size_t root, Fn &&fn)

9
src/libslic3r/SLA/BranchingTreeSLA.cpp
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@ -26,7 +26,7 @@ class BranchingTreeBuilder: public branchingtree::Builder {
{
double w = WIDENING_SCALE * m_sm.cfg.pillar_widening_factor * j.weight;
return std::max(double(j.Rmin), std::min(m_sm.cfg.base_radius_mm, w));
return std::min(m_sm.cfg.base_radius_mm, double(j.Rmin) + w);
}
std::vector<size_t> m_unroutable_pinheads;
@ -51,10 +51,13 @@ class BranchingTreeBuilder: public branchingtree::Builder {
} else if (int child = node.left + node.right + 1; child >= 0) {
auto from = m_cloud.get(child);
auto to = m_cloud.get(node.id);
auto tod = to.pos.cast<double>();
double toR = get_radius(to);
m_builder.add_diffbridge(from.pos.cast<double>(),
to.pos.cast<double>(),
tod,
get_radius(from),
get_radius(to));
toR);
m_builder.add_junction(tod, toR);
}
});
}