#include "libslic3r/libslic3r.h" #include "3DBed.hpp" #include "libslic3r/Polygon.hpp" #include "libslic3r/ClipperUtils.hpp" #include "libslic3r/BoundingBox.hpp" #include "GUI_App.hpp" #include "PresetBundle.hpp" #include "Gizmos/GLGizmoBase.hpp" #include #include static const float GROUND_Z = -0.02f; namespace Slic3r { namespace GUI { bool GeometryBuffer::set_from_triangles(const Polygons& triangles, float z, bool generate_tex_coords) { #if ENABLE_TEXTURES_FROM_SVG m_vertices.clear(); unsigned int v_size = 3 * (unsigned int)triangles.size(); if (v_size == 0) return false; m_vertices = std::vector(v_size, Vertex()); float min_x = unscale(triangles[0].points[0](0)); float min_y = unscale(triangles[0].points[0](1)); float max_x = min_x; float max_y = min_y; unsigned int v_count = 0; for (const Polygon& t : triangles) { for (unsigned int i = 0; i < 3; ++i) { Vertex& v = m_vertices[v_count]; const Point& p = t.points[i]; float x = unscale(p(0)); float y = unscale(p(1)); v.position[0] = x; v.position[1] = y; v.position[2] = z; if (generate_tex_coords) { v.tex_coords[0] = x; v.tex_coords[1] = y; min_x = std::min(min_x, x); max_x = std::max(max_x, x); min_y = std::min(min_y, y); max_y = std::max(max_y, y); } ++v_count; } } if (generate_tex_coords) { float size_x = max_x - min_x; float size_y = max_y - min_y; if ((size_x != 0.0f) && (size_y != 0.0f)) { float inv_size_x = 1.0f / size_x; float inv_size_y = -1.0f / size_y; for (Vertex& v : m_vertices) { v.tex_coords[0] = (v.tex_coords[0] - min_x) * inv_size_x; v.tex_coords[1] = (v.tex_coords[1] - min_y) * inv_size_y; } } } #else m_vertices.clear(); m_tex_coords.clear(); unsigned int v_size = 9 * (unsigned int)triangles.size(); unsigned int t_size = 6 * (unsigned int)triangles.size(); if (v_size == 0) return false; m_vertices = std::vector(v_size, 0.0f); if (generate_tex_coords) m_tex_coords = std::vector(t_size, 0.0f); float min_x = unscale(triangles[0].points[0](0)); float min_y = unscale(triangles[0].points[0](1)); float max_x = min_x; float max_y = min_y; unsigned int v_coord = 0; unsigned int t_coord = 0; for (const Polygon& t : triangles) { for (unsigned int v = 0; v < 3; ++v) { const Point& p = t.points[v]; float x = unscale(p(0)); float y = unscale(p(1)); m_vertices[v_coord++] = x; m_vertices[v_coord++] = y; m_vertices[v_coord++] = z; if (generate_tex_coords) { m_tex_coords[t_coord++] = x; m_tex_coords[t_coord++] = y; min_x = std::min(min_x, x); max_x = std::max(max_x, x); min_y = std::min(min_y, y); max_y = std::max(max_y, y); } } } if (generate_tex_coords) { float size_x = max_x - min_x; float size_y = max_y - min_y; if ((size_x != 0.0f) && (size_y != 0.0f)) { float inv_size_x = 1.0f / size_x; float inv_size_y = -1.0f / size_y; for (unsigned int i = 0; i < m_tex_coords.size(); i += 2) { m_tex_coords[i] = (m_tex_coords[i] - min_x) * inv_size_x; m_tex_coords[i + 1] = (m_tex_coords[i + 1] - min_y) * inv_size_y; } } } #endif // ENABLE_TEXTURES_FROM_SVG return true; } bool GeometryBuffer::set_from_lines(const Lines& lines, float z) { #if ENABLE_TEXTURES_FROM_SVG m_vertices.clear(); unsigned int v_size = 2 * (unsigned int)lines.size(); if (v_size == 0) return false; m_vertices = std::vector(v_size, Vertex()); unsigned int v_count = 0; for (const Line& l : lines) { Vertex& v1 = m_vertices[v_count]; v1.position[0] = unscale(l.a(0)); v1.position[1] = unscale(l.a(1)); v1.position[2] = z; ++v_count; Vertex& v2 = m_vertices[v_count]; v2.position[0] = unscale(l.b(0)); v2.position[1] = unscale(l.b(1)); v2.position[2] = z; ++v_count; } #else m_vertices.clear(); m_tex_coords.clear(); unsigned int size = 6 * (unsigned int)lines.size(); if (size == 0) return false; m_vertices = std::vector(size, 0.0f); unsigned int coord = 0; for (const Line& l : lines) { m_vertices[coord++] = unscale(l.a(0)); m_vertices[coord++] = unscale(l.a(1)); m_vertices[coord++] = z; m_vertices[coord++] = unscale(l.b(0)); m_vertices[coord++] = unscale(l.b(1)); m_vertices[coord++] = z; } #endif // ENABLE_TEXTURES_FROM_SVG return true; } #if ENABLE_TEXTURES_FROM_SVG const float* GeometryBuffer::get_vertices_data() const { return (m_vertices.size() > 0) ? (const float*)m_vertices.data() : nullptr; } #endif // ENABLE_TEXTURES_FROM_SVG const double Bed3D::Axes::Radius = 0.5; const double Bed3D::Axes::ArrowBaseRadius = 2.5 * Bed3D::Axes::Radius; const double Bed3D::Axes::ArrowLength = 5.0; Bed3D::Axes::Axes() : origin(Vec3d::Zero()) , length(Vec3d::Zero()) { m_quadric = ::gluNewQuadric(); if (m_quadric != nullptr) ::gluQuadricDrawStyle(m_quadric, GLU_FILL); } Bed3D::Axes::~Axes() { if (m_quadric != nullptr) ::gluDeleteQuadric(m_quadric); } void Bed3D::Axes::render() const { if (m_quadric == nullptr) return; glsafe(::glEnable(GL_DEPTH_TEST)); glsafe(::glEnable(GL_LIGHTING)); // x axis glsafe(::glColor3fv(AXES_COLOR[0])); glsafe(::glPushMatrix()); glsafe(::glTranslated(origin(0), origin(1), origin(2))); glsafe(::glRotated(90.0, 0.0, 1.0, 0.0)); render_axis(length(0)); glsafe(::glPopMatrix()); // y axis glsafe(::glColor3fv(AXES_COLOR[1])); glsafe(::glPushMatrix()); glsafe(::glTranslated(origin(0), origin(1), origin(2))); glsafe(::glRotated(-90.0, 1.0, 0.0, 0.0)); render_axis(length(1)); glsafe(::glPopMatrix()); // z axis glsafe(::glColor3fv(AXES_COLOR[2])); glsafe(::glPushMatrix()); glsafe(::glTranslated(origin(0), origin(1), origin(2))); render_axis(length(2)); glsafe(::glPopMatrix()); glsafe(::glDisable(GL_LIGHTING)); } void Bed3D::Axes::render_axis(double length) const { ::gluQuadricOrientation(m_quadric, GLU_OUTSIDE); ::gluCylinder(m_quadric, Radius, Radius, length, 32, 1); ::gluQuadricOrientation(m_quadric, GLU_INSIDE); ::gluDisk(m_quadric, 0.0, Radius, 32, 1); glsafe(::glTranslated(0.0, 0.0, length)); ::gluQuadricOrientation(m_quadric, GLU_OUTSIDE); ::gluCylinder(m_quadric, ArrowBaseRadius, 0.0, ArrowLength, 32, 1); ::gluQuadricOrientation(m_quadric, GLU_INSIDE); ::gluDisk(m_quadric, 0.0, ArrowBaseRadius, 32, 1); } Bed3D::Bed3D() : m_type(Custom) #if ENABLE_TEXTURES_FROM_SVG , m_vbo_id(0) #endif // ENABLE_TEXTURES_FROM_SVG , m_scale_factor(1.0f) { } bool Bed3D::set_shape(const Pointfs& shape) { EType new_type = detect_type(shape); if (m_shape == shape && m_type == new_type) // No change, no need to update the UI. return false; m_shape = shape; m_type = new_type; calc_bounding_box(); ExPolygon poly; for (const Vec2d& p : m_shape) { poly.contour.append(Point(scale_(p(0)), scale_(p(1)))); } calc_triangles(poly); const BoundingBox& bed_bbox = poly.contour.bounding_box(); calc_gridlines(poly, bed_bbox); m_polygon = offset_ex(poly.contour, (float)bed_bbox.radius() * 1.7f, jtRound, scale_(0.5))[0].contour; #if ENABLE_TEXTURES_FROM_SVG reset(); #endif // ENABLE_TEXTURES_FROM_SVG // Set the origin and size for painting of the coordinate system axes. m_axes.origin = Vec3d(0.0, 0.0, (double)GROUND_Z); m_axes.length = 0.1 * get_bounding_box().max_size() * Vec3d::Ones(); // Let the calee to update the UI. return true; } bool Bed3D::contains(const Point& point) const { return m_polygon.contains(point); } Point Bed3D::point_projection(const Point& point) const { return m_polygon.point_projection(point); } #if ENABLE_TEXTURES_FROM_SVG void Bed3D::render(float theta, bool useVBOs, float scale_factor) const { m_scale_factor = scale_factor; EType type = useVBOs ? m_type : Custom; switch (type) { case MK2: { render_prusa("mk2", theta > 90.0f); break; } case MK3: { render_prusa("mk3", theta > 90.0f); break; } case SL1: { render_prusa("sl1", theta > 90.0f); break; } default: case Custom: { render_custom(); break; } } } #else void Bed3D::render(float theta, bool useVBOs, float scale_factor) const { m_scale_factor = scale_factor; if (m_shape.empty()) return; switch (m_type) { case MK2: { render_prusa("mk2", theta, useVBOs); break; } case MK3: { render_prusa("mk3", theta, useVBOs); break; } case SL1: { render_prusa("sl1", theta, useVBOs); break; } default: case Custom: { render_custom(); break; } } } #endif // ENABLE_TEXTURES_FROM_SVG void Bed3D::render_axes() const { if (!m_shape.empty()) m_axes.render(); } void Bed3D::calc_bounding_box() { m_bounding_box = BoundingBoxf3(); for (const Vec2d& p : m_shape) { m_bounding_box.merge(Vec3d(p(0), p(1), 0.0)); } } void Bed3D::calc_triangles(const ExPolygon& poly) { Polygons triangles; poly.triangulate(&triangles); if (!m_triangles.set_from_triangles(triangles, GROUND_Z, m_type != Custom)) printf("Unable to create bed triangles\n"); } void Bed3D::calc_gridlines(const ExPolygon& poly, const BoundingBox& bed_bbox) { Polylines axes_lines; for (coord_t x = bed_bbox.min(0); x <= bed_bbox.max(0); x += scale_(10.0)) { Polyline line; line.append(Point(x, bed_bbox.min(1))); line.append(Point(x, bed_bbox.max(1))); axes_lines.push_back(line); } for (coord_t y = bed_bbox.min(1); y <= bed_bbox.max(1); y += scale_(10.0)) { Polyline line; line.append(Point(bed_bbox.min(0), y)); line.append(Point(bed_bbox.max(0), y)); axes_lines.push_back(line); } // clip with a slightly grown expolygon because our lines lay on the contours and may get erroneously clipped Lines gridlines = to_lines(intersection_pl(axes_lines, offset(poly, (float)SCALED_EPSILON))); // append bed contours Lines contour_lines = to_lines(poly); std::copy(contour_lines.begin(), contour_lines.end(), std::back_inserter(gridlines)); if (!m_gridlines.set_from_lines(gridlines, GROUND_Z)) printf("Unable to create bed grid lines\n"); } Bed3D::EType Bed3D::detect_type(const Pointfs& shape) const { EType type = Custom; auto bundle = wxGetApp().preset_bundle; if (bundle != nullptr) { const Preset* curr = &bundle->printers.get_selected_preset(); while (curr != nullptr) { if (curr->config.has("bed_shape")) { if ((curr->vendor != nullptr) && (curr->vendor->name == "Prusa Research") && (shape == dynamic_cast(curr->config.option("bed_shape"))->values)) { if (boost::contains(curr->name, "SL1")) { type = SL1; break; } else if (boost::contains(curr->name, "MK3") || boost::contains(curr->name, "MK2.5")) { type = MK3; break; } else if (boost::contains(curr->name, "MK2")) { type = MK2; break; } } } curr = bundle->printers.get_preset_parent(*curr); } } return type; } #if ENABLE_TEXTURES_FROM_SVG void Bed3D::render_prusa(const std::string &key, bool bottom) const { std::string tex_path = resources_dir() + "/icons/bed/" + key; std::string model_path = resources_dir() + "/models/" + key; // use anisotropic filter if graphic card allows GLfloat max_anisotropy = 0.0f; if (glewIsSupported("GL_EXT_texture_filter_anisotropic")) glsafe(::glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &max_anisotropy)); // use higher resolution images if graphic card allows GLint max_tex_size; glsafe(::glGetIntegerv(GL_MAX_TEXTURE_SIZE, &max_tex_size)); // clamp or the texture generation becomes too slow max_tex_size = std::min(max_tex_size, 8192); std::string filename = tex_path + ".svg"; if ((m_texture.get_id() == 0) || (m_texture.get_source() != filename)) { if (!m_texture.load_from_svg_file(filename, true, max_tex_size)) { render_custom(); return; } if (max_anisotropy > 0.0f) { glsafe(::glBindTexture(GL_TEXTURE_2D, m_texture.get_id())); glsafe(::glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, max_anisotropy)); glsafe(::glBindTexture(GL_TEXTURE_2D, 0)); } } if (!bottom) { filename = model_path + "_bed.stl"; if ((m_model.get_filename() != filename) && m_model.init_from_file(filename, true)) { Vec3d offset = m_bounding_box.center() - Vec3d(0.0, 0.0, 0.5 * m_model.get_bounding_box().size()(2)); if (key == "mk2") // hardcoded value to match the stl model offset += Vec3d(0.0, 7.5, -0.03); else if (key == "mk3") // hardcoded value to match the stl model offset += Vec3d(0.0, 5.5, 2.43); else if (key == "sl1") // hardcoded value to match the stl model offset += Vec3d(0.0, 0.0, -0.03); m_model.center_around(offset); } if (!m_model.get_filename().empty()) { glsafe(::glEnable(GL_LIGHTING)); m_model.render(); glsafe(::glDisable(GL_LIGHTING)); } } unsigned int triangles_vcount = m_triangles.get_vertices_count(); if (triangles_vcount > 0) { if (m_vbo_id == 0) { glsafe(::glGenBuffers(1, &m_vbo_id)); glsafe(::glBindBuffer(GL_ARRAY_BUFFER, m_vbo_id)); glsafe(::glBufferData(GL_ARRAY_BUFFER, (GLsizeiptr)m_triangles.get_vertices_data_size(), (const GLvoid*)m_triangles.get_vertices_data(), GL_STATIC_DRAW)); glsafe(::glBindBuffer(GL_ARRAY_BUFFER, 0)); } glsafe(::glEnable(GL_DEPTH_TEST)); glsafe(::glDepthMask(GL_FALSE)); glsafe(::glEnable(GL_BLEND)); glsafe(::glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)); if (bottom) glsafe(::glFrontFace(GL_CW)); render_prusa_shader(bottom); if (bottom) glsafe(::glFrontFace(GL_CCW)); glsafe(::glDisable(GL_BLEND)); glsafe(::glDepthMask(GL_TRUE)); } } void Bed3D::render_prusa_shader(bool transparent) const { if (m_shader.get_shader_program_id() == 0) m_shader.init("printbed.vs", "printbed.fs"); if (m_shader.is_initialized()) { m_shader.start_using(); m_shader.set_uniform("transparent_background", transparent); unsigned int stride = m_triangles.get_vertex_data_size(); GLint position_id = m_shader.get_attrib_location("v_position"); GLint tex_coords_id = m_shader.get_attrib_location("v_tex_coords"); glsafe(::glBindTexture(GL_TEXTURE_2D, (GLuint)m_texture.get_id())); glsafe(::glBindBuffer(GL_ARRAY_BUFFER, m_vbo_id)); if (position_id != -1) { glsafe(::glEnableVertexAttribArray(position_id)); glsafe(::glVertexAttribPointer(position_id, 3, GL_FLOAT, GL_FALSE, stride, (GLvoid*)m_triangles.get_position_offset())); } if (tex_coords_id != -1) { glsafe(::glEnableVertexAttribArray(tex_coords_id)); glsafe(::glVertexAttribPointer(tex_coords_id, 2, GL_FLOAT, GL_FALSE, stride, (GLvoid*)m_triangles.get_tex_coords_offset())); } glsafe(::glDrawArrays(GL_TRIANGLES, 0, (GLsizei)m_triangles.get_vertices_count())); if (tex_coords_id != -1) glsafe(::glDisableVertexAttribArray(tex_coords_id)); if (position_id != -1) glsafe(::glDisableVertexAttribArray(position_id)); glsafe(::glBindBuffer(GL_ARRAY_BUFFER, 0)); glsafe(::glBindTexture(GL_TEXTURE_2D, 0)); m_shader.stop_using(); } } #else void Bed3D::render_prusa(const std::string &key, float theta, bool useVBOs) const { std::string tex_path = resources_dir() + "/icons/bed/" + key; // use higher resolution images if graphic card allows GLint max_tex_size; glsafe(::glGetIntegerv(GL_MAX_TEXTURE_SIZE, &max_tex_size)); // temporary set to lowest resolution max_tex_size = 2048; if (max_tex_size >= 8192) tex_path += "_8192"; else if (max_tex_size >= 4096) tex_path += "_4096"; std::string model_path = resources_dir() + "/models/" + key; // use anisotropic filter if graphic card allows GLfloat max_anisotropy = 0.0f; if (glewIsSupported("GL_EXT_texture_filter_anisotropic")) glsafe(::glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &max_anisotropy)); std::string filename = tex_path + "_top.png"; if ((m_top_texture.get_id() == 0) || (m_top_texture.get_source() != filename)) { if (!m_top_texture.load_from_file(filename, true)) { render_custom(); return; } if (max_anisotropy > 0.0f) { glsafe(::glBindTexture(GL_TEXTURE_2D, m_top_texture.get_id())); glsafe(::glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, max_anisotropy)); glsafe(::glBindTexture(GL_TEXTURE_2D, 0)); } } filename = tex_path + "_bottom.png"; if ((m_bottom_texture.get_id() == 0) || (m_bottom_texture.get_source() != filename)) { if (!m_bottom_texture.load_from_file(filename, true)) { render_custom(); return; } if (max_anisotropy > 0.0f) { glsafe(::glBindTexture(GL_TEXTURE_2D, m_bottom_texture.get_id())); glsafe(::glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, max_anisotropy)); glsafe(::glBindTexture(GL_TEXTURE_2D, 0)); } } if (theta <= 90.0f) { filename = model_path + "_bed.stl"; if ((m_model.get_filename() != filename) && m_model.init_from_file(filename, useVBOs)) { Vec3d offset = m_bounding_box.center() - Vec3d(0.0, 0.0, 0.5 * m_model.get_bounding_box().size()(2)); if (key == "mk2") // hardcoded value to match the stl model offset += Vec3d(0.0, 7.5, -0.03); else if (key == "mk3") // hardcoded value to match the stl model offset += Vec3d(0.0, 5.5, 2.43); else if (key == "sl1") // hardcoded value to match the stl model offset += Vec3d(0.0, 0.0, -0.03); m_model.center_around(offset); } if (!m_model.get_filename().empty()) { glsafe(::glEnable(GL_LIGHTING)); m_model.render(); glsafe(::glDisable(GL_LIGHTING)); } } unsigned int triangles_vcount = m_triangles.get_vertices_count(); if (triangles_vcount > 0) { glsafe(::glEnable(GL_DEPTH_TEST)); glsafe(::glDepthMask(GL_FALSE)); glsafe(::glEnable(GL_BLEND)); glsafe(::glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)); glsafe(::glEnable(GL_TEXTURE_2D)); glsafe(::glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE)); glsafe(::glEnableClientState(GL_VERTEX_ARRAY)); glsafe(::glEnableClientState(GL_TEXTURE_COORD_ARRAY)); if (theta > 90.0f) glsafe(::glFrontFace(GL_CW)); glsafe(::glBindTexture(GL_TEXTURE_2D, (theta <= 90.0f) ? (GLuint)m_top_texture.get_id() : (GLuint)m_bottom_texture.get_id())); glsafe(::glVertexPointer(3, GL_FLOAT, 0, (GLvoid*)m_triangles.get_vertices())); glsafe(::glTexCoordPointer(2, GL_FLOAT, 0, (GLvoid*)m_triangles.get_tex_coords())); glsafe(::glDrawArrays(GL_TRIANGLES, 0, (GLsizei)triangles_vcount)); if (theta > 90.0f) glsafe(::glFrontFace(GL_CCW)); glsafe(::glBindTexture(GL_TEXTURE_2D, 0)); glsafe(::glDisableClientState(GL_TEXTURE_COORD_ARRAY)); glsafe(::glDisableClientState(GL_VERTEX_ARRAY)); glsafe(::glDisable(GL_TEXTURE_2D)); glsafe(::glDisable(GL_BLEND)); glsafe(::glDepthMask(GL_TRUE)); } } #endif // ENABLE_TEXTURES_FROM_SVG void Bed3D::render_custom() const { #if ENABLE_TEXTURES_FROM_SVG m_texture.reset(); #else m_top_texture.reset(); m_bottom_texture.reset(); #endif // ENABLE_TEXTURES_FROM_SVG unsigned int triangles_vcount = m_triangles.get_vertices_count(); if (triangles_vcount > 0) { glsafe(::glEnable(GL_LIGHTING)); glsafe(::glDisable(GL_DEPTH_TEST)); glsafe(::glEnable(GL_BLEND)); glsafe(::glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)); glsafe(::glEnableClientState(GL_VERTEX_ARRAY)); glsafe(::glColor4f(0.35f, 0.35f, 0.35f, 0.4f)); glsafe(::glNormal3d(0.0f, 0.0f, 1.0f)); #if ENABLE_TEXTURES_FROM_SVG glsafe(::glVertexPointer(3, GL_FLOAT, m_triangles.get_vertex_data_size(), (GLvoid*)m_triangles.get_vertices_data())); #else glsafe(::glVertexPointer(3, GL_FLOAT, 0, (GLvoid*)m_triangles.get_vertices())); #endif // ENABLE_TEXTURES_FROM_SVG glsafe(::glDrawArrays(GL_TRIANGLES, 0, (GLsizei)triangles_vcount)); // draw grid unsigned int gridlines_vcount = m_gridlines.get_vertices_count(); // we need depth test for grid, otherwise it would disappear when looking the object from below glsafe(::glEnable(GL_DEPTH_TEST)); glsafe(::glLineWidth(3.0f * m_scale_factor)); glsafe(::glColor4f(0.2f, 0.2f, 0.2f, 0.4f)); #if ENABLE_TEXTURES_FROM_SVG glsafe(::glVertexPointer(3, GL_FLOAT, m_triangles.get_vertex_data_size(), (GLvoid*)m_gridlines.get_vertices_data())); #else glsafe(::glVertexPointer(3, GL_FLOAT, 0, (GLvoid*)m_gridlines.get_vertices())); #endif // ENABLE_TEXTURES_FROM_SVG glsafe(::glDrawArrays(GL_LINES, 0, (GLsizei)gridlines_vcount)); glsafe(::glDisableClientState(GL_VERTEX_ARRAY)); glsafe(::glDisable(GL_BLEND)); glsafe(::glDisable(GL_LIGHTING)); } } #if ENABLE_TEXTURES_FROM_SVG void Bed3D::reset() { if (m_vbo_id > 0) { glsafe(::glDeleteBuffers(1, &m_vbo_id)); m_vbo_id = 0; } } #endif // ENABLE_TEXTURES_FROM_SVG } // GUI } // Slic3r