#include "BoundingBox.hpp" #include "ClipperUtils.hpp" #include "EdgeGrid.hpp" #include "Layer.hpp" #include "Print.hpp" #include "Geometry/VoronoiVisualUtils.hpp" #include "MutablePolygon.hpp" #include "format.hpp" #include #include #include #include #include #include #include namespace Slic3r { struct ColoredLine { Line line; int color; int poly_idx = -1; int local_line_idx = -1; }; } #include namespace boost::polygon { template <> struct geometry_concept { typedef segment_concept type; }; template <> struct segment_traits { typedef coord_t coordinate_type; typedef Slic3r::Point point_type; static inline point_type get(const Slic3r::ColoredLine& line, const direction_1d& dir) { return dir.to_int() ? line.line.b : line.line.a; } }; } //#define MMU_SEGMENTATION_DEBUG_GRAPH //#define MMU_SEGMENTATION_DEBUG_REGIONS //#define MMU_SEGMENTATION_DEBUG_INPUT //#define MMU_SEGMENTATION_DEBUG_PAINTED_LINES //#define MMU_SEGMENTATION_DEBUG_COLORIZED_POLYGONS namespace Slic3r { // Assumes that is at most same projected_l length or below than projection_l static bool project_line_on_line(const Line &projection_l, const Line &projected_l, Line *new_projected) { const Vec2d v1 = (projection_l.b - projection_l.a).cast(); const Vec2d va = (projected_l.a - projection_l.a).cast(); const Vec2d vb = (projected_l.b - projection_l.a).cast(); const double l2 = v1.squaredNorm(); // avoid a sqrt if (l2 == 0.0) return false; double t1 = va.dot(v1) / l2; double t2 = vb.dot(v1) / l2; t1 = std::clamp(t1, 0., 1.); t2 = std::clamp(t2, 0., 1.); assert(t1 >= 0.); assert(t2 >= 0.); assert(t1 <= 1.); assert(t2 <= 1.); Point p1 = projection_l.a + (t1 * v1).cast(); Point p2 = projection_l.a + (t2 * v1).cast(); *new_projected = Line(p1, p2); return true; } struct PaintedLine { size_t contour_idx; size_t line_idx; Line projected_line; int color; }; struct PaintedLineVisitor { PaintedLineVisitor(const EdgeGrid::Grid &grid, std::vector &painted_lines, std::mutex &painted_lines_mutex, size_t reserve) : grid(grid), painted_lines(painted_lines), painted_lines_mutex(painted_lines_mutex) { painted_lines_set.reserve(reserve); } void reset() { painted_lines_set.clear(); } bool operator()(coord_t iy, coord_t ix) { // Called with a row and column of the grid cell, which is intersected by a line. auto cell_data_range = grid.cell_data_range(iy, ix); const Vec2d v1 = line_to_test.vector().cast(); const double v1_sqr_norm = v1.squaredNorm(); const double heuristic_thr_part = line_to_test.length() + append_threshold; for (auto it_contour_and_segment = cell_data_range.first; it_contour_and_segment != cell_data_range.second; ++it_contour_and_segment) { Line grid_line = grid.line(*it_contour_and_segment); const Vec2d v2 = grid_line.vector().cast(); double heuristic_thr_sqr = Slic3r::sqr(heuristic_thr_part + grid_line.length()); // An inexpensive heuristic to test whether line_to_test and grid_line can be somewhere close enough to each other. // This helps filter out cases when the following expensive calculations are useless. if ((grid_line.a - line_to_test.a).cast().squaredNorm() > heuristic_thr_sqr || (grid_line.b - line_to_test.a).cast().squaredNorm() > heuristic_thr_sqr || (grid_line.a - line_to_test.b).cast().squaredNorm() > heuristic_thr_sqr || (grid_line.b - line_to_test.b).cast().squaredNorm() > heuristic_thr_sqr) continue; // When lines have too different length, it is necessary to normalize them if (Slic3r::sqr(v1.dot(v2)) > cos_threshold2 * v1_sqr_norm * v2.squaredNorm()) { // The two vectors are nearly collinear (their mutual angle is lower than 30 degrees) if (painted_lines_set.find(*it_contour_and_segment) == painted_lines_set.end()) { if (grid_line.distance_to_squared(line_to_test.a) < append_threshold2 || grid_line.distance_to_squared(line_to_test.b) < append_threshold2 || line_to_test.distance_to_squared(grid_line.a) < append_threshold2 || line_to_test.distance_to_squared(grid_line.b) < append_threshold2) { Line line_to_test_projected; project_line_on_line(grid_line, line_to_test, &line_to_test_projected); if ((line_to_test_projected.a - grid_line.a).cast().squaredNorm() > (line_to_test_projected.b - grid_line.a).cast().squaredNorm()) line_to_test_projected.reverse(); painted_lines_set.insert(*it_contour_and_segment); { boost::lock_guard lock(painted_lines_mutex); painted_lines.push_back({it_contour_and_segment->first, it_contour_and_segment->second, line_to_test_projected, this->color}); } } } } } // Continue traversing the grid along the edge. return true; } const EdgeGrid::Grid &grid; std::vector &painted_lines; std::mutex &painted_lines_mutex; Line line_to_test; std::unordered_set, boost::hash>> painted_lines_set; int color = -1; static inline const double cos_threshold2 = Slic3r::sqr(cos(M_PI * 30. / 180.)); static inline const double append_threshold = 50 * SCALED_EPSILON; static inline const double append_threshold2 = Slic3r::sqr(append_threshold); }; static std::vector to_colored_lines(const EdgeGrid::Contour &contour, int color) { std::vector lines; if (contour.num_segments() > 2) { lines.reserve(contour.num_segments()); for (auto it = contour.begin(); it != contour.end() - 1; ++it) lines.push_back({Line(*it, *(it + 1)), color}); lines.push_back({Line(contour.back(), contour.front()), color}); } return lines; } static Polygon colored_points_to_polygon(const std::vector &lines) { Polygon out; out.points.reserve(lines.size()); for (const ColoredLine &l : lines) out.points.emplace_back(l.line.a); return out; } static Polygons colored_points_to_polygon(const std::vector> &lines) { Polygons out; out.reserve(lines.size()); for (const std::vector &l : lines) out.emplace_back(colored_points_to_polygon(l)); return out; } // Flatten the vector of vectors into a vector. static inline std::vector to_lines(const std::vector> &c_lines) { size_t n_lines = 0; for (const auto &c_line : c_lines) n_lines += c_line.size(); std::vector lines; lines.reserve(n_lines); for (const auto &c_line : c_lines) lines.insert(lines.end(), c_line.begin(), c_line.end()); return lines; } static bool vertex_equal_to_point(const Voronoi::VD::vertex_type &vertex, const Vec2d &ipt) { // Convert ipt to doubles, force the 80bit FPU temporary to 64bit and then compare. // This should work with any settings of math compiler switches and the C++ compiler // shall understand the memcpies as type punning and it shall optimize them out. using ulp_cmp_type = boost::polygon::detail::ulp_comparison; ulp_cmp_type ulp_cmp; static constexpr int ULPS = boost::polygon::voronoi_diagram_traits::vertex_equality_predicate_type::ULPS; return ulp_cmp(vertex.x(), ipt.x(), ULPS) == ulp_cmp_type::EQUAL && ulp_cmp(vertex.y(), ipt.y(), ULPS) == ulp_cmp_type::EQUAL; } static inline bool vertex_equal_to_point(const Voronoi::VD::vertex_type *vertex, const Vec2d &ipt) { return vertex_equal_to_point(*vertex, ipt); } static std::vector> get_segments(const std::vector &polygon) { std::vector> segments; size_t segment_end = 0; while (segment_end + 1 < polygon.size() && polygon[segment_end].color == polygon[segment_end + 1].color) segment_end++; if (segment_end == polygon.size() - 1) return {std::make_pair(0, polygon.size() - 1)}; size_t first_different_color = (segment_end + 1) % polygon.size(); for (size_t line_offset_idx = 0; line_offset_idx < polygon.size(); ++line_offset_idx) { size_t start_s = (first_different_color + line_offset_idx) % polygon.size(); size_t end_s = start_s; while (line_offset_idx + 1 < polygon.size() && polygon[start_s].color == polygon[(first_different_color + line_offset_idx + 1) % polygon.size()].color) { end_s = (first_different_color + line_offset_idx + 1) % polygon.size(); line_offset_idx++; } segments.emplace_back(start_s, end_s); } return segments; } static std::vector>> get_all_segments(const std::vector> &color_poly) { std::vector>> all_segments(color_poly.size()); for (size_t poly_idx = 0; poly_idx < color_poly.size(); ++poly_idx) { const std::vector &c_polygon = color_poly[poly_idx]; all_segments[poly_idx] = get_segments(c_polygon); } return all_segments; } static std::vector colorize_line(const Line & line_to_process, const size_t start_idx, const size_t end_idx, std::vector &painted_lines) { std::vector internal_painted; for (size_t line_idx = start_idx; line_idx <= end_idx; ++line_idx) internal_painted.emplace_back(painted_lines[line_idx]); const int filter_eps_value = scale_(0.1f); std::vector filtered_lines; filtered_lines.emplace_back(internal_painted.front()); for (size_t line_idx = 1; line_idx < internal_painted.size(); ++line_idx) { // line_to_process is already all colored. Skip another possible duplicate coloring. if(filtered_lines.back().projected_line.b == line_to_process.b) break; PaintedLine &prev = filtered_lines.back(); PaintedLine &curr = internal_painted[line_idx]; double prev_length = prev.projected_line.length(); double curr_dist_start = (curr.projected_line.a - prev.projected_line.a).cast().norm(); double dist_between_lines = curr_dist_start - prev_length; if (dist_between_lines >= 0) { if (prev.color == curr.color) { if (dist_between_lines <= filter_eps_value) { prev.projected_line.b = curr.projected_line.b; } else { filtered_lines.emplace_back(curr); } } else { filtered_lines.emplace_back(curr); } } else { double curr_dist_end = (curr.projected_line.b - prev.projected_line.a).cast().norm(); if (curr_dist_end <= prev_length) { } else { if (prev.color == curr.color) { prev.projected_line.b = curr.projected_line.b; } else { curr.projected_line.a = prev.projected_line.b; filtered_lines.emplace_back(curr); } } } } std::vector final_lines; double dist_to_start = (filtered_lines.front().projected_line.a - line_to_process.a).cast().norm(); if (dist_to_start <= filter_eps_value) { filtered_lines.front().projected_line.a = line_to_process.a; final_lines.push_back({filtered_lines.front().projected_line, filtered_lines.front().color}); } else { final_lines.push_back({Line(line_to_process.a, filtered_lines.front().projected_line.a), 0}); final_lines.push_back({filtered_lines.front().projected_line, filtered_lines.front().color}); } for (size_t line_idx = 1; line_idx < filtered_lines.size(); ++line_idx) { ColoredLine &prev = final_lines.back(); PaintedLine &curr = filtered_lines[line_idx]; double line_dist = (curr.projected_line.a - prev.line.b).cast().norm(); if (line_dist <= filter_eps_value) { if (prev.color == curr.color) { prev.line.b = curr.projected_line.b; } else { prev.line.b = curr.projected_line.a; final_lines.push_back({curr.projected_line, curr.color}); } } else { final_lines.push_back({Line(prev.line.b, curr.projected_line.a), 0}); final_lines.push_back({curr.projected_line, curr.color}); } } double dist_to_end = (final_lines.back().line.b - line_to_process.b).cast().norm(); if (dist_to_end <= filter_eps_value) final_lines.back().line.b = line_to_process.b; else final_lines.push_back({Line(final_lines.back().line.b, line_to_process.b), 0}); for (size_t line_idx = 1; line_idx < final_lines.size(); ++line_idx) assert(final_lines[line_idx - 1].line.b == final_lines[line_idx].line.a); for (size_t line_idx = 2; line_idx < final_lines.size(); ++line_idx) { const ColoredLine &line_0 = final_lines[line_idx - 2]; ColoredLine & line_1 = final_lines[line_idx - 1]; const ColoredLine &line_2 = final_lines[line_idx - 0]; if (line_0.color == line_2.color && line_0.color != line_1.color) if (line_1.line.length() <= scale_(0.2)) line_1.color = line_0.color; } std::vector colored_lines_simple; colored_lines_simple.emplace_back(final_lines.front()); for (size_t line_idx = 1; line_idx < final_lines.size(); ++line_idx) { const ColoredLine &line_0 = final_lines[line_idx]; if (colored_lines_simple.back().color == line_0.color) colored_lines_simple.back().line.b = line_0.line.b; else colored_lines_simple.emplace_back(line_0); } final_lines = colored_lines_simple; if (final_lines.size() > 1) { if (final_lines.front().color != final_lines[1].color && final_lines.front().line.length() <= scale_(0.2)) { final_lines[1].line.a = final_lines.front().line.a; final_lines.erase(final_lines.begin()); } } if (final_lines.size() > 1) { if (final_lines.back().color != final_lines[final_lines.size() - 2].color && final_lines.back().line.length() <= scale_(0.2)) { final_lines[final_lines.size() - 2].line.b = final_lines.back().line.b; final_lines.pop_back(); } } return final_lines; } static std::vector colorize_polygon(const EdgeGrid::Contour &contour, const size_t start_idx, const size_t end_idx, std::vector &painted_lines) { std::vector new_lines; new_lines.reserve(end_idx - start_idx + 1); for (size_t idx = 0; idx < painted_lines[start_idx].line_idx; ++idx) new_lines.emplace_back(ColoredLine{contour.get_segment(idx), 0}); for (size_t first_idx = start_idx; first_idx <= end_idx; ++first_idx) { size_t second_idx = first_idx; while (second_idx <= end_idx && painted_lines[first_idx].line_idx == painted_lines[second_idx].line_idx) ++second_idx; --second_idx; assert(painted_lines[first_idx].line_idx == painted_lines[second_idx].line_idx); std::vector lines_c_line = colorize_line(contour.get_segment(painted_lines[first_idx].line_idx), first_idx, second_idx, painted_lines); new_lines.insert(new_lines.end(), lines_c_line.begin(), lines_c_line.end()); if (second_idx + 1 <= end_idx) for (size_t idx = painted_lines[second_idx].line_idx + 1; idx < painted_lines[second_idx + 1].line_idx; ++idx) new_lines.emplace_back(ColoredLine{contour.get_segment(idx), 0}); first_idx = second_idx; } for (size_t idx = painted_lines[end_idx].line_idx + 1; idx < contour.num_segments(); ++idx) new_lines.emplace_back(ColoredLine{contour.get_segment(idx), 0}); for (size_t line_idx = 2; line_idx < new_lines.size(); ++line_idx) { const ColoredLine &line_0 = new_lines[line_idx - 2]; ColoredLine & line_1 = new_lines[line_idx - 1]; const ColoredLine &line_2 = new_lines[line_idx - 0]; if (line_0.color == line_2.color && line_0.color != line_1.color && line_0.color >= 1) { if (line_1.line.length() <= scale_(0.5)) line_1.color = line_0.color; } } for (size_t line_idx = 3; line_idx < new_lines.size(); ++line_idx) { const ColoredLine &line_0 = new_lines[line_idx - 3]; ColoredLine & line_1 = new_lines[line_idx - 2]; ColoredLine & line_2 = new_lines[line_idx - 1]; const ColoredLine &line_3 = new_lines[line_idx - 0]; if (line_0.color == line_3.color && (line_0.color != line_1.color || line_0.color != line_2.color) && line_0.color >= 1 && line_3.color >= 1) { if ((line_1.line.length() + line_2.line.length()) <= scale_(0.5)) { line_1.color = line_0.color; line_2.color = line_0.color; } } } std::vector> segments = get_segments(new_lines); auto segment_length = [&new_lines](const std::pair &segment) { double total_length = 0; for (size_t seg_start_idx = segment.first; seg_start_idx != segment.second; seg_start_idx = (seg_start_idx + 1 < new_lines.size()) ? seg_start_idx + 1 : 0) total_length += new_lines[seg_start_idx].line.length(); total_length += new_lines[segment.second].line.length(); return total_length; }; for (size_t pair_idx = 1; pair_idx < segments.size(); ++pair_idx) { int color0 = new_lines[segments[pair_idx - 1].first].color; int color1 = new_lines[segments[pair_idx - 0].first].color; double seg0l = segment_length(segments[pair_idx - 1]); double seg1l = segment_length(segments[pair_idx - 0]); if (color0 != color1 && seg0l >= scale_(0.1) && seg1l <= scale_(0.2)) { for (size_t seg_start_idx = segments[pair_idx].first; seg_start_idx != segments[pair_idx].second; seg_start_idx = (seg_start_idx + 1 < new_lines.size()) ? seg_start_idx + 1 : 0) new_lines[seg_start_idx].color = color0; new_lines[segments[pair_idx].second].color = color0; } } segments = get_segments(new_lines); for (size_t pair_idx = 1; pair_idx < segments.size(); ++pair_idx) { int color0 = new_lines[segments[pair_idx - 1].first].color; int color1 = new_lines[segments[pair_idx - 0].first].color; double seg1l = segment_length(segments[pair_idx - 0]); if (color0 >= 1 && color0 != color1 && seg1l <= scale_(0.2)) { for (size_t seg_start_idx = segments[pair_idx].first; seg_start_idx != segments[pair_idx].second; seg_start_idx = (seg_start_idx + 1 < new_lines.size()) ? seg_start_idx + 1 : 0) new_lines[seg_start_idx].color = color0; new_lines[segments[pair_idx].second].color = color0; } } for (size_t pair_idx = 2; pair_idx < segments.size(); ++pair_idx) { int color0 = new_lines[segments[pair_idx - 2].first].color; int color1 = new_lines[segments[pair_idx - 1].first].color; int color2 = new_lines[segments[pair_idx - 0].first].color; if (color0 > 0 && color0 == color2 && color0 != color1 && segment_length(segments[pair_idx - 1]) <= scale_(0.5)) { for (size_t seg_start_idx = segments[pair_idx].first; seg_start_idx != segments[pair_idx].second; seg_start_idx = (seg_start_idx + 1 < new_lines.size()) ? seg_start_idx + 1 : 0) new_lines[seg_start_idx].color = color0; new_lines[segments[pair_idx].second].color = color0; } } return new_lines; } static std::vector> colorize_polygons(const std::vector &contours, std::vector &painted_lines) { const size_t start_idx = 0; const size_t end_idx = painted_lines.size() - 1; std::vector> new_polygons; new_polygons.reserve(contours.size()); for (size_t idx = 0; idx < painted_lines[start_idx].contour_idx; ++idx) new_polygons.emplace_back(to_colored_lines(contours[idx], 0)); for (size_t first_idx = start_idx; first_idx <= end_idx; ++first_idx) { size_t second_idx = first_idx; while (second_idx <= end_idx && painted_lines[first_idx].contour_idx == painted_lines[second_idx].contour_idx) ++second_idx; --second_idx; assert(painted_lines[first_idx].contour_idx == painted_lines[second_idx].contour_idx); new_polygons.emplace_back(colorize_polygon(contours[painted_lines[first_idx].contour_idx], first_idx, second_idx, painted_lines)); if (second_idx + 1 <= end_idx) for (size_t idx = painted_lines[second_idx].contour_idx + 1; idx < painted_lines[second_idx + 1].contour_idx; ++idx) new_polygons.emplace_back(to_colored_lines(contours[idx], 0)); first_idx = second_idx; } for (size_t idx = painted_lines[end_idx].contour_idx + 1; idx < contours.size(); ++idx) new_polygons.emplace_back(to_colored_lines(contours[idx], 0)); return new_polygons; } using boost::polygon::voronoi_diagram; static inline Point mk_point(const Voronoi::VD::vertex_type *point) { return {coord_t(point->x()), coord_t(point->y())}; } static inline Point mk_point(const Voronoi::Internal::point_type &point) { return {coord_t(point.x()), coord_t(point.y())}; } static inline Point mk_point(const voronoi_diagram::vertex_type &point) { return {coord_t(point.x()), coord_t(point.y())}; } static inline Point mk_point(const Vec2d &point) { return {coord_t(std::round(point.x())), coord_t(std::round(point.y()))}; } static inline Vec2d mk_vec2(const voronoi_diagram::vertex_type *point) { return {point->x(), point->y()}; } struct MMU_Graph { enum class ARC_TYPE { BORDER, NON_BORDER }; struct Arc { size_t from_idx; size_t to_idx; int color; ARC_TYPE type; bool operator==(const Arc &rhs) const { return (from_idx == rhs.from_idx) && (to_idx == rhs.to_idx) && (color == rhs.color) && (type == rhs.type); } bool operator!=(const Arc &rhs) const { return !operator==(rhs); } }; struct Node { Vec2d point; std::list arc_idxs; void remove_edge(const size_t to_idx, MMU_Graph &graph) { for (auto arc_it = this->arc_idxs.begin(); arc_it != this->arc_idxs.end(); ++arc_it) { MMU_Graph::Arc &arc = graph.arcs[*arc_it]; if (arc.to_idx == to_idx) { assert(arc.type != ARC_TYPE::BORDER); this->arc_idxs.erase(arc_it); break; } } } }; std::vector nodes; std::vector arcs; size_t all_border_points{}; std::vector polygon_idx_offset; std::vector polygon_sizes; void remove_edge(const size_t from_idx, const size_t to_idx) { nodes[from_idx].remove_edge(to_idx, *this); nodes[to_idx].remove_edge(from_idx, *this); } [[nodiscard]] size_t get_global_index(const size_t poly_idx, const size_t point_idx) const { return polygon_idx_offset[poly_idx] + point_idx; } void append_edge(const size_t &from_idx, const size_t &to_idx, int color = -1, ARC_TYPE type = ARC_TYPE::NON_BORDER) { // Don't append duplicate edges between the same nodes. for (const size_t &arc_idx : this->nodes[from_idx].arc_idxs) if (arcs[arc_idx].to_idx == to_idx) return; for (const size_t &arc_idx : this->nodes[to_idx].arc_idxs) if (arcs[arc_idx].to_idx == to_idx) return; this->nodes[from_idx].arc_idxs.push_back(this->arcs.size()); this->arcs.push_back({from_idx, to_idx, color, type}); // Always insert only one directed arc for the input polygons. // Two directed arcs in both directions are inserted if arcs aren't between points of the input polygons. if (type == ARC_TYPE::NON_BORDER) { this->nodes[to_idx].arc_idxs.push_back(this->arcs.size()); this->arcs.push_back({to_idx, from_idx, color, type}); } } // It assumes that between points of the input polygons is always only one directed arc, // with the same direction as lines of the input polygon. [[nodiscard]] MMU_Graph::Arc get_border_arc(size_t idx) const { assert(idx < this->all_border_points); return this->arcs[idx]; } [[nodiscard]] size_t nodes_count() const { return this->nodes.size(); } void remove_nodes_with_one_arc() { std::queue update_queue; for (const MMU_Graph::Node &node : this->nodes) { size_t node_idx = &node - &this->nodes.front(); // Skip nodes that represent points of input polygons. if (node.arc_idxs.size() == 1 && node_idx >= this->all_border_points) update_queue.emplace(&node - &this->nodes.front()); } while (!update_queue.empty()) { size_t node_from_idx = update_queue.front(); MMU_Graph::Node &node_from = this->nodes[update_queue.front()]; update_queue.pop(); if (node_from.arc_idxs.empty()) continue; assert(node_from.arc_idxs.size() == 1); size_t node_to_idx = arcs[node_from.arc_idxs.front()].to_idx; MMU_Graph::Node &node_to = this->nodes[node_to_idx]; this->remove_edge(node_from_idx, node_to_idx); if (node_to.arc_idxs.size() == 1 && node_to_idx >= this->all_border_points) update_queue.emplace(node_to_idx); } } void add_contours(const std::vector> &color_poly) { this->all_border_points = nodes.size(); this->polygon_sizes = std::vector(color_poly.size()); for (size_t polygon_idx = 0; polygon_idx < color_poly.size(); ++polygon_idx) this->polygon_sizes[polygon_idx] = color_poly[polygon_idx].size(); this->polygon_idx_offset = std::vector(color_poly.size()); this->polygon_idx_offset[0] = 0; for (size_t polygon_idx = 1; polygon_idx < color_poly.size(); ++polygon_idx) { this->polygon_idx_offset[polygon_idx] = this->polygon_idx_offset[polygon_idx - 1] + color_poly[polygon_idx - 1].size(); } size_t poly_idx = 0; for (const std::vector &color_lines : color_poly) { size_t line_idx = 0; for (const ColoredLine &color_line : color_lines) { size_t from_idx = this->get_global_index(poly_idx, line_idx); size_t to_idx = this->get_global_index(poly_idx, (line_idx + 1) % color_lines.size()); this->append_edge(from_idx, to_idx, color_line.color, ARC_TYPE::BORDER); ++line_idx; } ++poly_idx; } } // Nodes 0..all_border_points are only one with are on countour. Other vertexis are consider as not on coouter. So we check if base on attach index inline bool is_vertex_on_contour(const Voronoi::VD::vertex_type *vertex) const { assert(vertex != nullptr); return vertex->color() < this->all_border_points; } [[nodiscard]] inline bool is_edge_attach_to_contour(const voronoi_diagram::const_edge_iterator &edge_iterator) const { return this->is_vertex_on_contour(edge_iterator->vertex0()) || this->is_vertex_on_contour(edge_iterator->vertex1()); } [[nodiscard]] inline bool is_edge_connecting_two_contour_vertices(const voronoi_diagram::const_edge_iterator &edge_iterator) const { return this->is_vertex_on_contour(edge_iterator->vertex0()) && this->is_vertex_on_contour(edge_iterator->vertex1()); } // All Voronoi vertices are post-processes to merge very close vertices to single. Witch eliminates issues with intersection edges. // Also, Voronoi vertices outside of the bounding of input polygons are throw away by marking them. void append_voronoi_vertices(const Geometry::VoronoiDiagram &vd, const Polygons &color_poly_tmp, BoundingBox bbox) { bbox.offset(SCALED_EPSILON); struct CPoint { CPoint() = delete; CPoint(const Vec2d &point, size_t contour_idx, size_t point_idx) : m_point_double(point), m_point(mk_point(point)), m_point_idx(point_idx), m_contour_idx(contour_idx) {} CPoint(const Vec2d &point, size_t point_idx) : m_point_double(point), m_point(mk_point(point)), m_point_idx(point_idx), m_contour_idx(0) {} const Vec2d m_point_double; const Point m_point; size_t m_point_idx; size_t m_contour_idx; [[nodiscard]] const Vec2d &point_double() const { return m_point_double; } [[nodiscard]] const Point &point() const { return m_point; } bool operator==(const CPoint &rhs) const { return this->m_point_double == rhs.m_point_double && this->m_contour_idx == rhs.m_contour_idx && this->m_point_idx == rhs.m_point_idx; } }; struct CPointAccessor { const Point* operator()(const CPoint &pt) const { return &pt.point(); }}; typedef ClosestPointInRadiusLookup CPointLookupType; CPointLookupType closest_voronoi_point(coord_t(SCALED_EPSILON)); CPointLookupType closest_contour_point(3 * coord_t(SCALED_EPSILON)); for (const Polygon &polygon : color_poly_tmp) for (const Point &pt : polygon.points) closest_contour_point.insert(CPoint(Vec2d(pt.x(), pt.y()), &polygon - &color_poly_tmp.front(), &pt - &polygon.points.front())); for (const voronoi_diagram::vertex_type &vertex : vd.vertices()) { vertex.color(-1); Vec2d vertex_point_double = Vec2d(vertex.x(), vertex.y()); Point vertex_point = mk_point(vertex); const Vec2d &first_point_double = this->nodes[this->get_border_arc(vertex.incident_edge()->cell()->source_index()).from_idx].point; const Vec2d &second_point_double = this->nodes[this->get_border_arc(vertex.incident_edge()->twin()->cell()->source_index()).from_idx].point; if (vertex_equal_to_point(&vertex, first_point_double)) { assert(vertex.color() != vertex.incident_edge()->cell()->source_index()); assert(vertex.color() != vertex.incident_edge()->twin()->cell()->source_index()); vertex.color(this->get_border_arc(vertex.incident_edge()->cell()->source_index()).from_idx); } else if (vertex_equal_to_point(&vertex, second_point_double)) { assert(vertex.color() != vertex.incident_edge()->cell()->source_index()); assert(vertex.color() != vertex.incident_edge()->twin()->cell()->source_index()); vertex.color(this->get_border_arc(vertex.incident_edge()->twin()->cell()->source_index()).from_idx); } else if (bbox.contains(vertex_point)) { if (auto [contour_pt, c_dist_sqr] = closest_contour_point.find(vertex_point); contour_pt != nullptr && c_dist_sqr < Slic3r::sqr(3 * SCALED_EPSILON)) { vertex.color(this->get_global_index(contour_pt->m_contour_idx, contour_pt->m_point_idx)); } else if (auto [voronoi_pt, v_dist_sqr] = closest_voronoi_point.find(vertex_point); voronoi_pt == nullptr || v_dist_sqr >= Slic3r::sqr(SCALED_EPSILON / 10.0)) { closest_voronoi_point.insert(CPoint(vertex_point_double, this->nodes_count())); vertex.color(this->nodes_count()); this->nodes.push_back({vertex_point_double}); } else { // Boost Voronoi diagram generator sometimes creates two very closed points instead of one point. // For the example points (146872.99999999997, -146872.99999999997) and (146873, -146873), this example also included in Voronoi generator test cases. std::vector> all_closes_c_points = closest_voronoi_point.find_all(vertex_point); int merge_to_point = -1; for (const std::pair &c_point : all_closes_c_points) if ((vertex_point_double - c_point.first->point_double()).squaredNorm() <= Slic3r::sqr(EPSILON)) { merge_to_point = int(c_point.first->m_point_idx); break; } if (merge_to_point != -1) { vertex.color(merge_to_point); } else { closest_voronoi_point.insert(CPoint(vertex_point_double, this->nodes_count())); vertex.color(this->nodes_count()); this->nodes.push_back({vertex_point_double}); } } } } } void garbage_collect() { std::vector nodes_map(this->nodes.size(), -1); int nodes_count = 0; size_t arcs_count = 0; for (const MMU_Graph::Node &node : this->nodes) if (size_t node_idx = &node - &this->nodes.front(); !node.arc_idxs.empty()) { nodes_map[node_idx] = nodes_count++; arcs_count += node.arc_idxs.size(); } std::vector new_nodes; std::vector new_arcs; new_nodes.reserve(nodes_count); new_arcs.reserve(arcs_count); for (const MMU_Graph::Node &node : this->nodes) if (size_t node_idx = &node - &this->nodes.front(); nodes_map[node_idx] >= 0) { new_nodes.push_back({node.point}); for (const size_t &arc_idx : node.arc_idxs) { const Arc &arc = this->arcs[arc_idx]; new_nodes.back().arc_idxs.emplace_back(new_arcs.size()); new_arcs.push_back({size_t(nodes_map[arc.from_idx]), size_t(nodes_map[arc.to_idx]), arc.color, arc.type}); } } this->nodes = std::move(new_nodes); this->arcs = std::move(new_arcs); } }; static inline void mark_processed(const voronoi_diagram::const_edge_iterator &edge_iterator) { edge_iterator->color(true); edge_iterator->twin()->color(true); } // Return true, if "p" is closer to line.a, then line.b static inline bool is_point_closer_to_beginning_of_line(const Line &line, const Point &p) { return (p - line.a).cast().squaredNorm() < (p - line.b).cast().squaredNorm(); } static inline bool has_same_color(const ColoredLine &cl1, const ColoredLine &cl2) { return cl1.color == cl2.color; } // Determines if the line points from the point between two contour lines is pointing inside polygon or outside. static inline bool points_inside(const Line &contour_first, const Line &contour_second, const Point &new_point) { // Used in points_inside for decision if line leading thought the common point of two lines is pointing inside polygon or outside auto three_points_inward_normal = [](const Point &left, const Point &middle, const Point &right) -> Vec2d { assert(left != middle); assert(middle != right); return (perp(Point(middle - left)).cast().normalized() + perp(Point(right - middle)).cast().normalized()).normalized(); }; assert(contour_first.b == contour_second.a); Vec2d inward_normal = three_points_inward_normal(contour_first.a, contour_first.b, contour_second.b); Vec2d edge_norm = (new_point - contour_first.b).cast().normalized(); double side = inward_normal.dot(edge_norm); // assert(side != 0.); return side > 0.; } static inline bool line_intersection_with_epsilon(const Line &line_to_extend, const Line &other, Point *intersection) { Line extended_line = line_to_extend; extended_line.extend(15 * SCALED_EPSILON); return extended_line.intersection(other, intersection); } // For every ColoredLine in lines_colored_out, assign the index of the polygon to which belongs and also the index of this line inside of the polygon. static inline void init_polygon_indices(const MMU_Graph &graph, const std::vector> &color_poly, std::vector &lines_colored_out) { size_t poly_idx = 0; for (const std::vector &color_lines : color_poly) { size_t line_idx = 0; for (size_t color_line_idx = 0; color_line_idx < color_lines.size(); ++color_line_idx) { size_t from_idx = graph.get_global_index(poly_idx, line_idx); lines_colored_out[from_idx].poly_idx = int(poly_idx); lines_colored_out[from_idx].local_line_idx = int(line_idx); ++line_idx; } ++poly_idx; } } // Voronoi edges produced by Voronoi generator cloud have coordinates that don't fit inside coord_t (int32_t). // Because of that, this function tries to clip edges that have one endpoint of the edge inside the BoundingBox. static inline Line clip_finite_voronoi_edge(const Voronoi::VD::edge_type &edge, const BoundingBoxf &bbox) { assert(edge.is_finite()); Vec2d v0 = mk_vec2(edge.vertex0()); Vec2d v1 = mk_vec2(edge.vertex1()); bool contains_v0 = bbox.contains(v0); bool contains_v1 = bbox.contains(v1); if ((contains_v0 && contains_v1) || (!contains_v0 && !contains_v1)) return {mk_point(edge.vertex0()), mk_point(edge.vertex1())}; Vec2d vector = (v1 - v0).normalized() * bbox.size().norm(); if (!contains_v0) v0 = (v1 - vector); else v1 = (v0 + vector); return {v0.cast(), v1.cast()}; } static MMU_Graph build_graph(size_t layer_idx, const std::vector> &color_poly) { Geometry::VoronoiDiagram vd; std::vector lines_colored = to_lines(color_poly); const Polygons color_poly_tmp = colored_points_to_polygon(color_poly); const Points points = to_points(color_poly_tmp); const Lines lines = to_lines(color_poly_tmp); // The algorithm adds edges to the graph that are between two different colors. // If a polygon is colored entirely with one color, we need to add at least one edge from that polygon artificially. // Adding this edge is necessary for cases where the expolygon has an outer contour colored whole with one color // and a hole colored with a different color. If an edge wasn't added to the graph, // the entire expolygon would be colored with single random color instead of two different. std::vector force_edge_adding(color_poly.size()); // For each polygon, check if it is all colored with the same color. If it is, we need to force adding one edge to it. for (const std::vector &c_poly : color_poly) { bool force_edge = true; for (const ColoredLine &c_line : c_poly) if (c_line.color != c_poly.front().color) { force_edge = false; break; } force_edge_adding[&c_poly - &color_poly.front()] = force_edge; } boost::polygon::construct_voronoi(lines_colored.begin(), lines_colored.end(), &vd); MMU_Graph graph; graph.nodes.reserve(points.size() + vd.vertices().size()); for (const Point &point : points) graph.nodes.push_back({Vec2d(double(point.x()), double(point.y()))}); graph.add_contours(color_poly); init_polygon_indices(graph, color_poly, lines_colored); assert(graph.nodes.size() == lines_colored.size()); BoundingBox bbox = get_extents(color_poly_tmp); graph.append_voronoi_vertices(vd, color_poly_tmp, bbox); auto get_prev_contour_line = [&lines_colored, &color_poly, &graph](const voronoi_diagram::const_edge_iterator &edge_it) -> ColoredLine { size_t contour_line_local_idx = lines_colored[edge_it->cell()->source_index()].local_line_idx; size_t contour_line_size = color_poly[lines_colored[edge_it->cell()->source_index()].poly_idx].size(); size_t contour_prev_idx = graph.get_global_index(lines_colored[edge_it->cell()->source_index()].poly_idx, (contour_line_local_idx > 0) ? contour_line_local_idx - 1 : contour_line_size - 1); return lines_colored[contour_prev_idx]; }; auto get_next_contour_line = [&lines_colored, &color_poly, &graph](const voronoi_diagram::const_edge_iterator &edge_it) -> ColoredLine { size_t contour_line_local_idx = lines_colored[edge_it->cell()->source_index()].local_line_idx; size_t contour_line_size = color_poly[lines_colored[edge_it->cell()->source_index()].poly_idx].size(); size_t contour_next_idx = graph.get_global_index(lines_colored[edge_it->cell()->source_index()].poly_idx, (contour_line_local_idx + 1) % contour_line_size); return lines_colored[contour_next_idx]; }; bbox.offset(scale_(10.)); const BoundingBoxf bbox_clip(bbox.min.cast(), bbox.max.cast()); const double bbox_dim_max = double(std::max(bbox.size().x(), bbox.size().y())); // Make a copy of the input segments with the double type. std::vector segments; for (const Line &line : lines) segments.emplace_back(Voronoi::Internal::point_type(double(line.a(0)), double(line.a(1))), Voronoi::Internal::point_type(double(line.b(0)), double(line.b(1)))); for (auto edge_it = vd.edges().begin(); edge_it != vd.edges().end(); ++edge_it) { // Skip second half-edge if (edge_it->cell()->source_index() > edge_it->twin()->cell()->source_index() || edge_it->color()) continue; if (edge_it->is_infinite() && (edge_it->vertex0() != nullptr || edge_it->vertex1() != nullptr)) { // Infinite edge is leading through a point on the counter, but there are no Voronoi vertices. // So we could fix this case by computing the intersection between the contour line and infinity edge. std::vector samples; Voronoi::Internal::clip_infinite_edge(points, segments, *edge_it, bbox_dim_max, &samples); if (samples.empty()) continue; const Line edge_line(mk_point(samples[0]), mk_point(samples[1])); const ColoredLine &contour_line = lines_colored[edge_it->cell()->source_index()]; Point contour_intersection; if (line_intersection_with_epsilon(contour_line.line, edge_line, &contour_intersection)) { const MMU_Graph::Arc &graph_arc = graph.get_border_arc(edge_it->cell()->source_index()); const size_t from_idx = (edge_it->vertex1() != nullptr) ? edge_it->vertex1()->color() : edge_it->vertex0()->color(); size_t to_idx = ((contour_line.line.a - contour_intersection).cast().squaredNorm() < (contour_line.line.b - contour_intersection).cast().squaredNorm()) ? graph_arc.from_idx : graph_arc.to_idx; if (from_idx != to_idx && from_idx < graph.nodes_count() && to_idx < graph.nodes_count()) { graph.append_edge(from_idx, to_idx); mark_processed(edge_it); } } } else if (edge_it->is_finite()) { // Both points are on contour, so skip them. In cases of duplicate Voronoi vertices, skip edges between the same two points. if (graph.is_edge_connecting_two_contour_vertices(edge_it) || (edge_it->vertex0()->color() == edge_it->vertex1()->color())) continue; const Line edge_line = clip_finite_voronoi_edge(*edge_it, bbox_clip); const Line contour_line = lines_colored[edge_it->cell()->source_index()].line; const ColoredLine colored_line = lines_colored[edge_it->cell()->source_index()]; const ColoredLine contour_line_prev = get_prev_contour_line(edge_it); const ColoredLine contour_line_next = get_next_contour_line(edge_it); if (edge_it->vertex0()->color() >= graph.nodes_count() || edge_it->vertex1()->color() >= graph.nodes_count()) { enum class Vertex { VERTEX0, VERTEX1 }; auto append_edge_if_intersects_with_contour = [&graph, &lines_colored, &edge_line, &contour_line](const voronoi_diagram::const_edge_iterator &edge_iterator, const Vertex vertex) { Point intersection; Line contour_line_twin = lines_colored[edge_iterator->twin()->cell()->source_index()].line; if (line_intersection_with_epsilon(contour_line_twin, edge_line, &intersection)) { const MMU_Graph::Arc &graph_arc = graph.get_border_arc(edge_iterator->twin()->cell()->source_index()); const size_t to_idx_l = is_point_closer_to_beginning_of_line(contour_line_twin, intersection) ? graph_arc.from_idx : graph_arc.to_idx; graph.append_edge(vertex == Vertex::VERTEX0 ? edge_iterator->vertex0()->color() : edge_iterator->vertex1()->color(), to_idx_l); } else if (line_intersection_with_epsilon(contour_line, edge_line, &intersection)) { const MMU_Graph::Arc &graph_arc = graph.get_border_arc(edge_iterator->cell()->source_index()); const size_t to_idx_l = is_point_closer_to_beginning_of_line(contour_line, intersection) ? graph_arc.from_idx : graph_arc.to_idx; graph.append_edge(vertex == Vertex::VERTEX0 ? edge_iterator->vertex0()->color() : edge_iterator->vertex1()->color(), to_idx_l); } mark_processed(edge_iterator); }; if (edge_it->vertex0()->color() < graph.nodes_count() && !graph.is_vertex_on_contour(edge_it->vertex0())) append_edge_if_intersects_with_contour(edge_it, Vertex::VERTEX0); if (edge_it->vertex1()->color() < graph.nodes_count() && !graph.is_vertex_on_contour(edge_it->vertex1())) append_edge_if_intersects_with_contour(edge_it, Vertex::VERTEX1); } else if (graph.is_edge_attach_to_contour(edge_it)) { mark_processed(edge_it); // Skip edges witch connection two points on a contour if (graph.is_edge_connecting_two_contour_vertices(edge_it)) continue; const size_t from_idx = edge_it->vertex0()->color(); const size_t to_idx = edge_it->vertex1()->color(); if (graph.is_vertex_on_contour(edge_it->vertex0())) { if (is_point_closer_to_beginning_of_line(contour_line, edge_line.a)) { if ((!has_same_color(contour_line_prev, colored_line) || force_edge_adding[colored_line.poly_idx]) && points_inside(contour_line_prev.line, contour_line, edge_line.b)) { graph.append_edge(from_idx, to_idx); force_edge_adding[colored_line.poly_idx] = false; } } else { if ((!has_same_color(contour_line_next, colored_line) || force_edge_adding[colored_line.poly_idx]) && points_inside(contour_line, contour_line_next.line, edge_line.b)) { graph.append_edge(from_idx, to_idx); force_edge_adding[colored_line.poly_idx] = false; } } } else { assert(graph.is_vertex_on_contour(edge_it->vertex1())); if (is_point_closer_to_beginning_of_line(contour_line, edge_line.b)) { if ((!has_same_color(contour_line_prev, colored_line) || force_edge_adding[colored_line.poly_idx]) && points_inside(contour_line_prev.line, contour_line, edge_line.a)) { graph.append_edge(from_idx, to_idx); force_edge_adding[colored_line.poly_idx] = false; } } else { if ((!has_same_color(contour_line_next, colored_line) || force_edge_adding[colored_line.poly_idx]) && points_inside(contour_line, contour_line_next.line, edge_line.a)) { graph.append_edge(from_idx, to_idx); force_edge_adding[colored_line.poly_idx] = false; } } } } else if (Point intersection; line_intersection_with_epsilon(contour_line, edge_line, &intersection)) { mark_processed(edge_it); Vec2d real_v0_double = graph.nodes[edge_it->vertex0()->color()].point; Vec2d real_v1_double = graph.nodes[edge_it->vertex1()->color()].point; Point real_v0 = Point(coord_t(real_v0_double.x()), coord_t(real_v0_double.y())); Point real_v1 = Point(coord_t(real_v1_double.x()), coord_t(real_v1_double.y())); if (is_point_closer_to_beginning_of_line(contour_line, intersection)) { Line first_part(intersection, real_v0); Line second_part(intersection, real_v1); if (!has_same_color(contour_line_prev, colored_line)) { if (points_inside(contour_line_prev.line, contour_line, first_part.b)) graph.append_edge(edge_it->vertex0()->color(), graph.get_border_arc(edge_it->cell()->source_index()).from_idx); if (points_inside(contour_line_prev.line, contour_line, second_part.b)) graph.append_edge(edge_it->vertex1()->color(), graph.get_border_arc(edge_it->cell()->source_index()).from_idx); } } else { const size_t int_point_idx = graph.get_border_arc(edge_it->cell()->source_index()).to_idx; const Vec2d int_point_double = graph.nodes[int_point_idx].point; const Point int_point = Point(coord_t(int_point_double.x()), coord_t(int_point_double.y())); const Line first_part(int_point, real_v0); const Line second_part(int_point, real_v1); if (!has_same_color(contour_line_next, colored_line)) { if (points_inside(contour_line, contour_line_next.line, first_part.b)) graph.append_edge(edge_it->vertex0()->color(), int_point_idx); if (points_inside(contour_line, contour_line_next.line, second_part.b)) graph.append_edge(edge_it->vertex1()->color(), int_point_idx); } } } } } for (auto edge_it = vd.edges().begin(); edge_it != vd.edges().end(); ++edge_it) { // Skip second half-edge and processed edges if (edge_it->cell()->source_index() > edge_it->twin()->cell()->source_index() || edge_it->color()) continue; if (edge_it->is_finite() && !bool(edge_it->color()) && edge_it->vertex0()->color() < graph.nodes_count() && edge_it->vertex1()->color() < graph.nodes_count()) { // Skip cases, when the edge is between two same vertices, which is in cases two near vertices were merged together. if (edge_it->vertex0()->color() == edge_it->vertex1()->color()) continue; size_t from_idx = edge_it->vertex0()->color(); size_t to_idx = edge_it->vertex1()->color(); graph.append_edge(from_idx, to_idx); } mark_processed(edge_it); } graph.remove_nodes_with_one_arc(); return graph; } static inline Polygon to_polygon(const std::vector &lines) { Polygon poly_out; poly_out.points.reserve(lines.size()); for (const Linef &line : lines) poly_out.points.emplace_back(mk_point(line.a)); return poly_out; } // Returns list of polygons and assigned colors. // It iterates through all nodes on the border between two different colors, and from this point, // start selection always left most edges for every node to construct CCW polygons. // Assumes that graph is planar (without self-intersection edges) static std::vector> extract_colored_segments(const MMU_Graph &graph) { std::vector used_arcs(graph.arcs.size(), false); // When there is no next arc, then is returned original_arc or edge with is marked as used auto get_next = [&graph, &used_arcs](const Linef &process_line, const MMU_Graph::Arc &original_arc) -> const MMU_Graph::Arc & { std::vector> sorted_arcs; for (const size_t &arc_idx : graph.nodes[original_arc.to_idx].arc_idxs) { const MMU_Graph::Arc &arc = graph.arcs[arc_idx]; if (graph.nodes[arc.to_idx].point == process_line.a || used_arcs[arc_idx]) continue; assert(original_arc.to_idx == arc.from_idx); Vec2d process_line_vec_n = (process_line.a - process_line.b).normalized(); Vec2d neighbour_line_vec_n = (graph.nodes[arc.to_idx].point - graph.nodes[arc.from_idx].point).normalized(); double angle = ::acos(std::clamp(neighbour_line_vec_n.dot(process_line_vec_n), -1.0, 1.0)); if (Slic3r::cross2(neighbour_line_vec_n, process_line_vec_n) < 0.0) angle = 2.0 * (double) PI - angle; sorted_arcs.emplace_back(&arc, angle); } std::sort(sorted_arcs.begin(), sorted_arcs.end(), [](std::pair &l, std::pair &r) -> bool { return l.second < r.second; }); // Try to return left most edge witch is unused for (auto &sorted_arc : sorted_arcs) if (size_t arc_idx = sorted_arc.first - &graph.arcs.front(); !used_arcs[arc_idx]) return *sorted_arc.first; if (sorted_arcs.empty()) return original_arc; return *(sorted_arcs.front().first); }; auto all_arc_used = [&used_arcs](const MMU_Graph::Node &node) -> bool { return std::all_of(node.arc_idxs.cbegin(), node.arc_idxs.cend(), [&used_arcs](const size_t &arc_idx) -> bool { return used_arcs[arc_idx]; }); }; std::vector> polygons_segments; for (size_t node_idx = 0; node_idx < graph.all_border_points; ++node_idx) { const MMU_Graph::Node &node = graph.nodes[node_idx]; for (const size_t &arc_idx : node.arc_idxs) { const MMU_Graph::Arc &arc = graph.arcs[arc_idx]; if (arc.type == MMU_Graph::ARC_TYPE::NON_BORDER || used_arcs[arc_idx]) continue; Linef process_line(node.point, graph.nodes[arc.to_idx].point); used_arcs[arc_idx] = true; std::vector face_lines; face_lines.emplace_back(process_line); Vec2d start_p = process_line.a; Linef p_vec = process_line; const MMU_Graph::Arc *p_arc = &arc; do { const MMU_Graph::Arc &next = get_next(p_vec, *p_arc); size_t next_arc_idx = &next - &graph.arcs.front(); face_lines.emplace_back(graph.nodes[next.from_idx].point, graph.nodes[next.to_idx].point); if (used_arcs[next_arc_idx]) break; used_arcs[next_arc_idx] = true; p_vec = Linef(graph.nodes[next.from_idx].point, graph.nodes[next.to_idx].point); p_arc = &next; } while (graph.nodes[p_arc->to_idx].point != start_p || !all_arc_used(graph.nodes[p_arc->to_idx])); Polygon poly = to_polygon(face_lines); if (poly.is_counter_clockwise() && poly.is_valid()) polygons_segments.emplace_back(poly, arc.color); } } return polygons_segments; } // Used in remove_multiple_edges_in_vertices() // Returns length of edge with is connected to contour. To this length is include other edges with follows it if they are almost straight (with the // tolerance of 15) And also if node between two subsequent edges is connected only to these two edges. static inline double compute_edge_length(const MMU_Graph &graph, const size_t start_idx, const size_t &start_arc_idx) { assert(start_arc_idx < graph.arcs.size()); std::vector used_arcs(graph.arcs.size(), false); used_arcs[start_arc_idx] = true; const MMU_Graph::Arc *arc = &graph.arcs[start_arc_idx]; size_t idx = start_idx; double line_total_length = (graph.nodes[arc->to_idx].point - graph.nodes[idx].point).norm();; while (graph.nodes[arc->to_idx].arc_idxs.size() == 2) { bool found = false; for (const size_t &arc_idx : graph.nodes[arc->to_idx].arc_idxs) { if (const MMU_Graph::Arc &arc_n = graph.arcs[arc_idx]; arc_n.type == MMU_Graph::ARC_TYPE::NON_BORDER && !used_arcs[arc_idx] && arc_n.to_idx != idx) { Linef first_line(graph.nodes[idx].point, graph.nodes[arc->to_idx].point); Linef second_line(graph.nodes[arc->to_idx].point, graph.nodes[arc_n.to_idx].point); Vec2d first_line_vec = (first_line.a - first_line.b); Vec2d second_line_vec = (second_line.b - second_line.a); Vec2d first_line_vec_n = first_line_vec.normalized(); Vec2d second_line_vec_n = second_line_vec.normalized(); double angle = ::acos(std::clamp(first_line_vec_n.dot(second_line_vec_n), -1.0, 1.0)); if (Slic3r::cross2(first_line_vec_n, second_line_vec_n) < 0.0) angle = 2.0 * (double) PI - angle; if (std::abs(angle - PI) >= (PI / 12)) continue; idx = arc->to_idx; arc = &arc_n; line_total_length += (graph.nodes[arc->to_idx].point - graph.nodes[idx].point).norm(); used_arcs[arc_idx] = true; found = true; break; } } if (!found) break; } return line_total_length; } // Used for fixing double Voronoi edges for concave parts of the polygon. static void remove_multiple_edges_in_vertices(MMU_Graph &graph, const std::vector> &color_poly) { std::vector>> colored_segments = get_all_segments(color_poly); for (const std::vector> &colored_segment_p : colored_segments) { size_t poly_idx = &colored_segment_p - &colored_segments.front(); for (const std::pair &colored_segment : colored_segment_p) { size_t first_idx = graph.get_global_index(poly_idx, colored_segment.first); size_t second_idx = graph.get_global_index(poly_idx, (colored_segment.second + 1) % graph.polygon_sizes[poly_idx]); Linef seg_line(graph.nodes[first_idx].point, graph.nodes[second_idx].point); if (graph.nodes[first_idx].arc_idxs.size() >= 3) { std::vector> arc_to_check; for (const size_t &arc_idx : graph.nodes[first_idx].arc_idxs) { MMU_Graph::Arc &n_arc = graph.arcs[arc_idx]; if (n_arc.type == MMU_Graph::ARC_TYPE::NON_BORDER) { double total_len = compute_edge_length(graph, first_idx, arc_idx); arc_to_check.emplace_back(&n_arc, total_len); } } std::sort(arc_to_check.begin(), arc_to_check.end(), [](std::pair &l, std::pair &r) -> bool { return l.second > r.second; }); while (arc_to_check.size() > 1) { graph.remove_edge(first_idx, arc_to_check.back().first->to_idx); arc_to_check.pop_back(); } } } } } static void cut_segmented_layers(const std::vector &input_expolygons, std::vector>> &segmented_regions, const float cut_width, const std::function &throw_on_cancel_callback) { BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - cutting segmented layers in parallel - begin"; tbb::parallel_for(tbb::blocked_range(0, segmented_regions.size()),[&segmented_regions, &input_expolygons, &cut_width, &throw_on_cancel_callback](const tbb::blocked_range& range) { for (size_t layer_idx = range.begin(); layer_idx < range.end(); ++layer_idx) { throw_on_cancel_callback(); std::vector> segmented_regions_cuts; for (const std::pair &colored_expoly : segmented_regions[layer_idx]) { ExPolygons cut_colored_expoly = diff_ex(colored_expoly.first, offset_ex(input_expolygons[layer_idx], cut_width)); for (ExPolygon &expoly : cut_colored_expoly) segmented_regions_cuts.emplace_back(std::move(expoly), colored_expoly.second); } segmented_regions[layer_idx] = std::move(segmented_regions_cuts); } }); // end of parallel_for BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - cutting segmented layers in parallel - end"; } static bool is_volume_sinking(const indexed_triangle_set &its, const Transform3d &trafo) { const Transform3f trafo_f = trafo.cast(); for (const stl_vertex &vertex : its.vertices) if ((trafo_f * vertex).z() < SINKING_Z_THRESHOLD) return true; return false; } //#define MMU_SEGMENTATION_DEBUG_TOP_BOTTOM // Returns MMU segmentation of top and bottom layers based on painting in MMU segmentation gizmo static inline std::vector> mmu_segmentation_top_and_bottom_layers(const PrintObject &print_object, const std::vector &input_expolygons, const std::function &throw_on_cancel_callback) { const size_t num_extruders = print_object.print()->config().nozzle_diameter.size() + 1; const size_t num_layers = input_expolygons.size(); const ConstLayerPtrsAdaptor layers = print_object.layers(); // Maximum number of top / bottom layers accounts for maximum overlap of one thread group into a neighbor thread group. int max_top_layers = 0; int max_bottom_layers = 0; int granularity = 1; for (size_t i = 0; i < print_object.num_printing_regions(); ++ i) { const PrintRegionConfig &config = print_object.printing_region(i).config(); max_top_layers = std::max(max_top_layers, config.top_solid_layers.value); max_bottom_layers = std::max(max_bottom_layers, config.bottom_solid_layers.value); granularity = std::max(granularity, std::max(config.top_solid_layers.value, config.bottom_solid_layers.value) - 1); } // Project upwards pointing painted triangles over top surfaces, // project downards pointing painted triangles over bottom surfaces. std::vector> top_raw(num_extruders), bottom_raw(num_extruders); std::vector zs = zs_from_layers(print_object.layers()); Transform3d object_trafo = print_object.trafo_centered(); #ifdef MMU_SEGMENTATION_DEBUG_TOP_BOTTOM static int iRun = 0; #endif // NDEBUG if (max_top_layers > 0 || max_bottom_layers > 0) { for (const ModelVolume *mv : print_object.model_object()->volumes) if (mv->is_model_part()) { const Transform3d volume_trafo = object_trafo * mv->get_matrix(); for (size_t extruder_idx = 0; extruder_idx < num_extruders; ++ extruder_idx) { const indexed_triangle_set painted = mv->mmu_segmentation_facets.get_facets_strict(*mv, EnforcerBlockerType(extruder_idx)); #ifdef MMU_SEGMENTATION_DEBUG_TOP_BOTTOM { static int iRun = 0; its_write_obj(painted, debug_out_path("mm-painted-patch-%d-%d.obj", iRun ++, extruder_idx).c_str()); } #endif // MMU_SEGMENTATION_DEBUG_TOP_BOTTOM if (! painted.indices.empty()) { std::vector top, bottom; if (!zs.empty() && is_volume_sinking(painted, volume_trafo)) { std::vector zs_sinking = {0.f}; Slic3r::append(zs_sinking, zs); slice_mesh_slabs(painted, zs_sinking, volume_trafo, max_top_layers > 0 ? &top : nullptr, max_bottom_layers > 0 ? &bottom : nullptr, throw_on_cancel_callback); MeshSlicingParams slicing_params; slicing_params.trafo = volume_trafo; Polygons bottom_slice = slice_mesh(painted, zs[0], slicing_params); top.erase(top.begin()); bottom.erase(bottom.begin()); bottom[0] = union_(bottom[0], bottom_slice); } else slice_mesh_slabs(painted, zs, volume_trafo, max_top_layers > 0 ? &top : nullptr, max_bottom_layers > 0 ? &bottom : nullptr, throw_on_cancel_callback); auto merge = [](std::vector &&src, std::vector &dst) { auto it_src = find_if(src.begin(), src.end(), [](const Polygons &p){ return ! p.empty(); }); if (it_src != src.end()) { if (dst.empty()) { dst = std::move(src); } else { assert(src.size() == dst.size()); auto it_dst = dst.begin() + (it_src - src.begin()); for (; it_src != src.end(); ++ it_src, ++ it_dst) if (! it_src->empty()) { if (it_dst->empty()) *it_dst = std::move(*it_src); else append(*it_dst, std::move(*it_src)); } } } }; merge(std::move(top), top_raw[extruder_idx]); merge(std::move(bottom), bottom_raw[extruder_idx]); } } } } auto filter_out_small_polygons = [&num_extruders, &num_layers](std::vector> &raw_surfaces, double min_area) -> void { for (size_t extruder_idx = 0; extruder_idx < num_extruders; ++extruder_idx) if (!raw_surfaces[extruder_idx].empty()) for (size_t layer_idx = 0; layer_idx < num_layers; ++layer_idx) if (!raw_surfaces[extruder_idx][layer_idx].empty()) remove_small(raw_surfaces[extruder_idx][layer_idx], min_area); }; // Filter out polygons less than 0.1mm^2, because they are unprintable and causing dimples on outer primers (#7104) filter_out_small_polygons(top_raw, Slic3r::sqr(scale_(0.1f))); filter_out_small_polygons(bottom_raw, Slic3r::sqr(scale_(0.1f))); #ifdef MMU_SEGMENTATION_DEBUG_TOP_BOTTOM { const char* colors[] = { "aqua", "black", "blue", "fuchsia", "gray", "green", "lime", "maroon", "navy", "olive", "purple", "red", "silver", "teal", "yellow" }; static int iRun = 0; for (size_t layer_id = 0; layer_id < zs.size(); ++layer_id) { std::vector> svg; for (size_t extruder_idx = 0; extruder_idx < num_extruders; ++ extruder_idx) { if (! top_raw[extruder_idx].empty() && ! top_raw[extruder_idx][layer_id].empty()) if (ExPolygons expoly = union_ex(top_raw[extruder_idx][layer_id]); ! expoly.empty()) { const char *color = colors[extruder_idx]; svg.emplace_back(expoly, SVG::ExPolygonAttributes{ format("top%d", extruder_idx), color, color, color }); } if (! bottom_raw[extruder_idx].empty() && ! bottom_raw[extruder_idx][layer_id].empty()) if (ExPolygons expoly = union_ex(bottom_raw[extruder_idx][layer_id]); ! expoly.empty()) { const char *color = colors[extruder_idx + 8]; svg.emplace_back(expoly, SVG::ExPolygonAttributes{ format("bottom%d", extruder_idx), color, color, color }); } } SVG::export_expolygons(debug_out_path("mm-segmentation-top-bottom-%d-%d-%lf.svg", iRun, layer_id, zs[layer_id]), svg); } ++ iRun; } #endif // MMU_SEGMENTATION_DEBUG_TOP_BOTTOM std::vector> triangles_by_color_bottom(num_extruders); std::vector> triangles_by_color_top(num_extruders); triangles_by_color_bottom.assign(num_extruders, std::vector(num_layers * 2)); triangles_by_color_top.assign(num_extruders, std::vector(num_layers * 2)); struct LayerColorStat { // Number of regions for a queried color. int num_regions { 0 }; // Maximum perimeter extrusion width for a queried color. float extrusion_width { 0.f }; // Minimum radius of a region to be printable. Used to filter regions by morphological opening. float small_region_threshold { 0.f }; // Maximum number of top layers for a queried color. int top_solid_layers { 0 }; // Maximum number of bottom layers for a queried color. int bottom_solid_layers { 0 }; }; auto layer_color_stat = [&layers = std::as_const(layers)](const size_t layer_idx, const size_t color_idx) -> LayerColorStat { LayerColorStat out; const Layer &layer = *layers[layer_idx]; for (const LayerRegion *region : layer.regions()) if (const PrintRegionConfig &config = region->region().config(); // color_idx == 0 means "don't know" extruder aka the underlying extruder. // As this region may split existing regions, we collect statistics over all regions for color_idx == 0. color_idx == 0 || config.perimeter_extruder == int(color_idx)) { out.extrusion_width = std::max(out.extrusion_width, float(config.perimeter_extrusion_width)); out.top_solid_layers = std::max(out.top_solid_layers, config.top_solid_layers); out.bottom_solid_layers = std::max(out.bottom_solid_layers, config.bottom_solid_layers); out.small_region_threshold = config.gap_fill_enabled.value && config.gap_fill_speed.value > 0 ? // Gap fill enabled. Enable a single line of 1/2 extrusion width. 0.5f * float(config.perimeter_extrusion_width) : // Gap fill disabled. Enable two lines slightly overlapping. float(config.perimeter_extrusion_width) + 0.7f * Flow::rounded_rectangle_extrusion_spacing(float(config.perimeter_extrusion_width), float(layer.height)); out.small_region_threshold = scaled(out.small_region_threshold * 0.5f); ++ out.num_regions; } assert(out.num_regions > 0); out.extrusion_width = scaled(out.extrusion_width); return out; }; tbb::parallel_for(tbb::blocked_range(0, num_layers, granularity), [&granularity, &num_layers, &num_extruders, &layer_color_stat, &top_raw, &triangles_by_color_top, &throw_on_cancel_callback, &input_expolygons, &bottom_raw, &triangles_by_color_bottom](const tbb::blocked_range &range) { size_t group_idx = range.begin() / granularity; size_t layer_idx_offset = (group_idx & 1) * num_layers; for (size_t layer_idx = range.begin(); layer_idx < range.end(); ++ layer_idx) { for (size_t color_idx = 0; color_idx < num_extruders; ++ color_idx) { throw_on_cancel_callback(); LayerColorStat stat = layer_color_stat(layer_idx, color_idx); if (std::vector &top = top_raw[color_idx]; ! top.empty() && ! top[layer_idx].empty()) if (ExPolygons top_ex = union_ex(top[layer_idx]); ! top_ex.empty()) { // Clean up thin projections. They are not printable anyways. top_ex = opening_ex(top_ex, stat.small_region_threshold); if (! top_ex.empty()) { append(triangles_by_color_top[color_idx][layer_idx + layer_idx_offset], top_ex); float offset = 0.f; ExPolygons layer_slices_trimmed = input_expolygons[layer_idx]; for (int last_idx = int(layer_idx) - 1; last_idx >= std::max(int(layer_idx - stat.top_solid_layers), int(0)); --last_idx) { offset -= stat.extrusion_width; layer_slices_trimmed = intersection_ex(layer_slices_trimmed, input_expolygons[last_idx]); ExPolygons last = opening_ex(intersection_ex(top_ex, offset_ex(layer_slices_trimmed, offset)), stat.small_region_threshold); if (last.empty()) break; append(triangles_by_color_top[color_idx][last_idx + layer_idx_offset], std::move(last)); } } } if (std::vector &bottom = bottom_raw[color_idx]; ! bottom.empty() && ! bottom[layer_idx].empty()) if (ExPolygons bottom_ex = union_ex(bottom[layer_idx]); ! bottom_ex.empty()) { // Clean up thin projections. They are not printable anyways. bottom_ex = opening_ex(bottom_ex, stat.small_region_threshold); if (! bottom_ex.empty()) { append(triangles_by_color_bottom[color_idx][layer_idx + layer_idx_offset], bottom_ex); float offset = 0.f; ExPolygons layer_slices_trimmed = input_expolygons[layer_idx]; for (size_t last_idx = layer_idx + 1; last_idx < std::min(layer_idx + stat.bottom_solid_layers, num_layers); ++last_idx) { offset -= stat.extrusion_width; layer_slices_trimmed = intersection_ex(layer_slices_trimmed, input_expolygons[last_idx]); ExPolygons last = opening_ex(intersection_ex(bottom_ex, offset_ex(layer_slices_trimmed, offset)), stat.small_region_threshold); if (last.empty()) break; append(triangles_by_color_bottom[color_idx][last_idx + layer_idx_offset], std::move(last)); } } } } } }); std::vector> triangles_by_color_merged(num_extruders); triangles_by_color_merged.assign(num_extruders, std::vector(num_layers)); tbb::parallel_for(tbb::blocked_range(0, num_layers), [&triangles_by_color_merged, &triangles_by_color_bottom, &triangles_by_color_top, &num_layers, &throw_on_cancel_callback](const tbb::blocked_range &range) { for (size_t layer_idx = range.begin(); layer_idx < range.end(); ++ layer_idx) { throw_on_cancel_callback(); for (size_t color_idx = 0; color_idx < triangles_by_color_merged.size(); ++color_idx) { auto &self = triangles_by_color_merged[color_idx][layer_idx]; append(self, std::move(triangles_by_color_bottom[color_idx][layer_idx])); append(self, std::move(triangles_by_color_bottom[color_idx][layer_idx + num_layers])); append(self, std::move(triangles_by_color_top[color_idx][layer_idx])); append(self, std::move(triangles_by_color_top[color_idx][layer_idx + num_layers])); self = union_ex(self); } // Trim one region by the other if some of the regions overlap. for (size_t color_idx = 1; color_idx < triangles_by_color_merged.size(); ++ color_idx) triangles_by_color_merged[color_idx][layer_idx] = diff_ex(triangles_by_color_merged[color_idx][layer_idx], triangles_by_color_merged[color_idx - 1][layer_idx]); } }); return triangles_by_color_merged; } static std::vector>> merge_segmented_layers( const std::vector>> &segmented_regions, std::vector> &&top_and_bottom_layers, const std::function &throw_on_cancel_callback) { std::vector>> segmented_regions_merged(segmented_regions.size()); BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - merging segmented layers in parallel - begin"; tbb::parallel_for(tbb::blocked_range(0, segmented_regions.size()), [&segmented_regions, &top_and_bottom_layers, &segmented_regions_merged, &throw_on_cancel_callback](const tbb::blocked_range &range) { for (size_t layer_idx = range.begin(); layer_idx < range.end(); ++layer_idx) { for (const std::pair &colored_expoly : segmented_regions[layer_idx]) { throw_on_cancel_callback(); // Zero is the default color of the volume. if(colored_expoly.second == 0) continue; ExPolygons cut_colored_expoly = {colored_expoly.first}; for (const std::vector &top_and_bottom_layer : top_and_bottom_layers) cut_colored_expoly = diff_ex(cut_colored_expoly, top_and_bottom_layer[layer_idx]); for (ExPolygon &ex_poly : cut_colored_expoly) segmented_regions_merged[layer_idx].emplace_back(std::move(ex_poly), colored_expoly.second - 1); } for (size_t color_idx = 1; color_idx < top_and_bottom_layers.size(); ++color_idx) for (ExPolygon &expoly : top_and_bottom_layers[color_idx][layer_idx]) segmented_regions_merged[layer_idx].emplace_back(std::move(expoly), color_idx - 1); } }); // end of parallel_for BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - merging segmented layers in parallel - end"; return segmented_regions_merged; } #ifdef MMU_SEGMENTATION_DEBUG_REGIONS static void export_regions_to_svg(const std::string &path, const std::vector> ®ions, const ExPolygons &lslices) { const std::vector colors = {"blue", "cyan", "red", "orange", "magenta", "pink", "purple", "yellow"}; coordf_t stroke_width = scale_(0.05); BoundingBox bbox = get_extents(lslices); bbox.offset(scale_(1.)); ::Slic3r::SVG svg(path.c_str(), bbox); svg.draw_outline(lslices, "green", "lime", stroke_width); for (const std::pair ®ion : regions) { int region_color = int(region.second); if (region_color >= 0 && region_color < int(colors.size())) svg.draw(region.first, colors[region_color]); else svg.draw(region.first, "black"); } } #endif // MMU_SEGMENTATION_DEBUG_REGIONS #ifdef MMU_SEGMENTATION_DEBUG_GRAPH static void export_graph_to_svg(const std::string &path, const MMU_Graph &graph, const ExPolygons &lslices) { const std::vector colors = {"blue", "cyan", "red", "orange", "magenta", "pink", "purple", "green", "yellow"}; coordf_t stroke_width = scale_(0.05); BoundingBox bbox = get_extents(lslices); bbox.offset(scale_(1.)); ::Slic3r::SVG svg(path.c_str(), bbox); for (const MMU_Graph::Node &node : graph.nodes) for (const size_t &arc_idx : node.arc_idxs) { const MMU_Graph::Arc &arc = graph.arcs[arc_idx]; Line arc_line(mk_point(node.point), mk_point(graph.nodes[arc.to_idx].point)); if (arc.type == MMU_Graph::ARC_TYPE::BORDER && arc.color >= 0 && arc.color < int(colors.size())) svg.draw(arc_line, colors[arc.color], stroke_width); else svg.draw(arc_line, "black", stroke_width); } } #endif // MMU_SEGMENTATION_DEBUG_GRAPH #ifdef MMU_SEGMENTATION_DEBUG_INPUT void export_processed_input_expolygons_to_svg(const std::string &path, const LayerRegionPtrs ®ions, const ExPolygons &processed_input_expolygons) { coordf_t stroke_width = scale_(0.05); BoundingBox bbox = get_extents(regions); bbox.merge(get_extents(processed_input_expolygons)); bbox.offset(scale_(1.)); ::Slic3r::SVG svg(path.c_str(), bbox); for (LayerRegion *region : regions) svg.draw_outline(region->slices.surfaces, "blue", "cyan", stroke_width); svg.draw_outline(processed_input_expolygons, "red", "pink", stroke_width); } #endif // MMU_SEGMENTATION_DEBUG_INPUT #ifdef MMU_SEGMENTATION_DEBUG_PAINTED_LINES static void export_painted_lines_to_svg(const std::string &path, const std::vector &painted_lines, const ExPolygons &lslices) { const std::vector colors = {"blue", "cyan", "red", "orange", "magenta", "pink", "purple", "yellow"}; coordf_t stroke_width = scale_(0.05); BoundingBox bbox = get_extents(lslices); bbox.offset(scale_(1.)); ::Slic3r::SVG svg(path.c_str(), bbox); for (const Line &line : to_lines(lslices)) svg.draw(line, "green", stroke_width); for (const PaintedLine &painted_line : painted_lines) svg.draw(painted_line.projected_line, painted_line.color < int(colors.size()) ? colors[painted_line.color] : "black", stroke_width); } #endif // MMU_SEGMENTATION_DEBUG_PAINTED_LINES #ifdef MMU_SEGMENTATION_DEBUG_COLORIZED_POLYGONS static void export_colorized_polygons_to_svg(const std::string &path, const std::vector> &colorized_polygons, const ExPolygons &lslices) { const std::vector colors = {"blue", "cyan", "red", "orange", "magenta", "pink", "purple", "green", "yellow"}; coordf_t stroke_width = scale_(0.05); BoundingBox bbox = get_extents(lslices); bbox.offset(scale_(1.)); ::Slic3r::SVG svg(path.c_str(), bbox); for (const std::vector &colorized_polygon : colorized_polygons) for (const ColoredLine &colorized_line : colorized_polygon) svg.draw(colorized_line.line, colorized_line.color < int(colors.size())? colors[colorized_line.color] : "black", stroke_width); } #endif // MMU_SEGMENTATION_DEBUG_COLORIZED_POLYGONS // Check if all ColoredLine representing a single layer uses the same color. static bool has_layer_only_one_color(const std::vector> &colored_polygons) { assert(!colored_polygons.empty()); assert(!colored_polygons.front().empty()); int first_line_color = colored_polygons.front().front().color; for (const std::vector &colored_polygon : colored_polygons) for (const ColoredLine &colored_line : colored_polygon) if (first_line_color != colored_line.color) return false; return true; } std::vector>> multi_material_segmentation_by_painting(const PrintObject &print_object, const std::function &throw_on_cancel_callback) { std::vector>> segmented_regions(print_object.layers().size()); std::vector> painted_lines(print_object.layers().size()); std::array painted_lines_mutex; std::vector edge_grids(print_object.layers().size()); const ConstLayerPtrsAdaptor layers = print_object.layers(); std::vector input_expolygons(layers.size()); throw_on_cancel_callback(); // Merge all regions and remove small holes BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - slices preparation in parallel - begin"; tbb::parallel_for(tbb::blocked_range(0, layers.size()), [&layers, &input_expolygons, &throw_on_cancel_callback](const tbb::blocked_range &range) { for (size_t layer_idx = range.begin(); layer_idx < range.end(); ++layer_idx) { throw_on_cancel_callback(); ExPolygons ex_polygons; for (LayerRegion *region : layers[layer_idx]->regions()) for (const Surface &surface : region->slices.surfaces) Slic3r::append(ex_polygons, offset_ex(surface.expolygon, float(10 * SCALED_EPSILON))); // All expolygons are expanded by SCALED_EPSILON, merged, and then shrunk again by SCALED_EPSILON // to ensure that very close polygons will be merged. ex_polygons = union_ex(ex_polygons); // Remove all expolygons and holes with an area less than 0.1mm^2 remove_small_and_small_holes(ex_polygons, Slic3r::sqr(scale_(0.1f))); // Occasionally, some input polygons contained self-intersections that caused problems with Voronoi diagrams // and consequently with the extraction of colored segments by function extract_colored_segments. // Calling simplify_polygons removes these self-intersections. // Also, occasionally input polygons contained several points very close together (distance between points is 1 or so). // Such close points sometimes caused that the Voronoi diagram has self-intersecting edges around these vertices. // This consequently leads to issues with the extraction of colored segments by function extract_colored_segments. // Calling expolygons_simplify fixed these issues. input_expolygons[layer_idx] = smooth_outward(expolygons_simplify(offset_ex(ex_polygons, -10.f * float(SCALED_EPSILON)), 5 * SCALED_EPSILON), 10 * coord_t(SCALED_EPSILON)); #ifdef MMU_SEGMENTATION_DEBUG_INPUT { static int iRun = 0; export_processed_input_expolygons_to_svg(debug_out_path("mm-input-%d-%d.svg", layer_idx, iRun++), layers[layer_idx]->regions(), input_expolygons[layer_idx]); } #endif // MMU_SEGMENTATION_DEBUG_INPUT } }); // end of parallel_for BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - slices preparation in parallel - end"; for (size_t layer_idx = 0; layer_idx < layers.size(); ++layer_idx) { throw_on_cancel_callback(); BoundingBox bbox(get_extents(layers[layer_idx]->regions())); bbox.merge(get_extents(input_expolygons[layer_idx])); // Projected triangles may slightly exceed the input polygons. bbox.offset(20 * SCALED_EPSILON); edge_grids[layer_idx].set_bbox(bbox); edge_grids[layer_idx].create(input_expolygons[layer_idx], coord_t(scale_(10.))); } BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - projection of painted triangles - begin"; for (const ModelVolume *mv : print_object.model_object()->volumes) { const size_t num_extruders = print_object.print()->config().nozzle_diameter.size() + 1; tbb::parallel_for(tbb::blocked_range(1, num_extruders), [&mv, &print_object, &edge_grids, &painted_lines, &painted_lines_mutex, &input_expolygons, &throw_on_cancel_callback](const tbb::blocked_range &range) { for (size_t extruder_idx = range.begin(); extruder_idx < range.end(); ++extruder_idx) { throw_on_cancel_callback(); const indexed_triangle_set custom_facets = mv->mmu_segmentation_facets.get_facets(*mv, EnforcerBlockerType(extruder_idx)); if (!mv->is_model_part() || custom_facets.indices.empty()) continue; const Transform3f tr = print_object.trafo().cast() * mv->get_matrix().cast(); tbb::parallel_for(tbb::blocked_range(0, custom_facets.indices.size()), [&tr, &custom_facets, &print_object, &edge_grids, &input_expolygons, &painted_lines, &painted_lines_mutex, &extruder_idx](const tbb::blocked_range &range) { for (size_t facet_idx = range.begin(); facet_idx < range.end(); ++facet_idx) { float min_z = std::numeric_limits::max(); float max_z = std::numeric_limits::lowest(); std::array facet; for (int p_idx = 0; p_idx < 3; ++p_idx) { facet[p_idx] = tr * custom_facets.vertices[custom_facets.indices[facet_idx](p_idx)]; max_z = std::max(max_z, facet[p_idx].z()); min_z = std::min(min_z, facet[p_idx].z()); } // Sort the vertices by z-axis for simplification of projected_facet on slices std::sort(facet.begin(), facet.end(), [](const Vec3f &p1, const Vec3f &p2) { return p1.z() < p2.z(); }); // Find lowest slice not below the triangle. auto first_layer = std::upper_bound(print_object.layers().begin(), print_object.layers().end(), float(min_z - EPSILON), [](float z, const Layer *l1) { return z < l1->slice_z; }); auto last_layer = std::upper_bound(print_object.layers().begin(), print_object.layers().end(), float(max_z + EPSILON), [](float z, const Layer *l1) { return z < l1->slice_z; }); --last_layer; for (auto layer_it = first_layer; layer_it != (last_layer + 1); ++layer_it) { const Layer *layer = *layer_it; size_t layer_idx = layer_it - print_object.layers().begin(); if (input_expolygons[layer_idx].empty() || facet[0].z() > layer->slice_z || layer->slice_z > facet[2].z()) continue; // https://kandepet.com/3d-printing-slicing-3d-objects/ float t = (float(layer->slice_z) - facet[0].z()) / (facet[2].z() - facet[0].z()); Vec3f line_start_f = facet[0] + t * (facet[2] - facet[0]); Vec3f line_end_f; if (facet[1].z() > layer->slice_z) { // [P0, P2] and [P0, P1] float t1 = (float(layer->slice_z) - facet[0].z()) / (facet[1].z() - facet[0].z()); line_end_f = facet[0] + t1 * (facet[1] - facet[0]); } else { // [P0, P2] and [P1, P2] float t2 = (float(layer->slice_z) - facet[1].z()) / (facet[2].z() - facet[1].z()); line_end_f = facet[1] + t2 * (facet[2] - facet[1]); } Point line_start(scale_(line_start_f.x()), scale_(line_start_f.y())); Point line_end(scale_(line_end_f.x()), scale_(line_end_f.y())); line_start -= print_object.center_offset(); line_end -= print_object.center_offset(); size_t mutex_idx = layer_idx & 0x3F; assert(mutex_idx < painted_lines_mutex.size()); PaintedLineVisitor visitor(edge_grids[layer_idx], painted_lines[layer_idx], painted_lines_mutex[mutex_idx], 16); visitor.line_to_test.a = line_start; visitor.line_to_test.b = line_end; visitor.color = int(extruder_idx); edge_grids[layer_idx].visit_cells_intersecting_line(line_start, line_end, visitor); } } }); // end of parallel_for } }); // end of parallel_for } BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - projection of painted triangles - end"; BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - painted layers count: " << std::count_if(painted_lines.begin(), painted_lines.end(), [](const std::vector &pl) { return !pl.empty(); }); BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - layers segmentation in parallel - begin"; tbb::parallel_for(tbb::blocked_range(0, print_object.layers().size()), [&edge_grids, &input_expolygons, &painted_lines, &segmented_regions, &throw_on_cancel_callback](const tbb::blocked_range &range) { for (size_t layer_idx = range.begin(); layer_idx < range.end(); ++layer_idx) { throw_on_cancel_callback(); auto comp = [&edge_grids, layer_idx](const PaintedLine &first, const PaintedLine &second) { Point first_start_p = edge_grids[layer_idx].contours()[first.contour_idx].segment_start(first.line_idx); return first.contour_idx < second.contour_idx || (first.contour_idx == second.contour_idx && (first.line_idx < second.line_idx || (first.line_idx == second.line_idx && ((first.projected_line.a - first_start_p).cast().squaredNorm() < (second.projected_line.a - first_start_p).cast().squaredNorm() || ((first.projected_line.a - first_start_p).cast().squaredNorm() == (second.projected_line.a - first_start_p).cast().squaredNorm() && (first.projected_line.b - first.projected_line.a).cast().squaredNorm() < (second.projected_line.b - second.projected_line.a).cast().squaredNorm()))))); }; std::sort(painted_lines[layer_idx].begin(), painted_lines[layer_idx].end(), comp); std::vector &painted_lines_single = painted_lines[layer_idx]; if (!painted_lines_single.empty()) { #ifdef MMU_SEGMENTATION_DEBUG_PAINTED_LINES { static int iRun = 0; export_painted_lines_to_svg(debug_out_path("mm-painted-lines-%d-%d.svg", layer_idx, iRun++), painted_lines_single, input_expolygons[layer_idx]); } #endif // MMU_SEGMENTATION_DEBUG_PAINTED_LINES std::vector> color_poly = colorize_polygons(edge_grids[layer_idx].contours(), painted_lines_single); #ifdef MMU_SEGMENTATION_DEBUG_COLORIZED_POLYGONS { static int iRun = 0; export_colorized_polygons_to_svg(debug_out_path("mm-colorized_polygons-%d-%d.svg", layer_idx, iRun++), color_poly, input_expolygons[layer_idx]); } #endif // MMU_SEGMENTATION_DEBUG_COLORIZED_POLYGONS assert(!color_poly.empty()); assert(!color_poly.front().empty()); if (has_layer_only_one_color(color_poly)) { // If the whole layer is painted using the same color, it is not needed to construct a Voronoi diagram for the segmentation of this layer. for (const ExPolygon &ex_polygon : input_expolygons[layer_idx]) segmented_regions[layer_idx].emplace_back(ex_polygon, size_t(color_poly.front().front().color)); } else { MMU_Graph graph = build_graph(layer_idx, color_poly); remove_multiple_edges_in_vertices(graph, color_poly); graph.remove_nodes_with_one_arc(); #ifdef MMU_SEGMENTATION_DEBUG_GRAPH { static int iRun = 0; export_graph_to_svg(debug_out_path("mm-graph-final-%d-%d.svg", layer_idx, iRun++), graph, input_expolygons[layer_idx]); } #endif // MMU_SEGMENTATION_DEBUG_GRAPH std::vector> segmentation = extract_colored_segments(graph); for (std::pair ®ion : segmentation) segmented_regions[layer_idx].emplace_back(std::move(region)); } #ifdef MMU_SEGMENTATION_DEBUG_REGIONS { static int iRun = 0; export_regions_to_svg(debug_out_path("mm-regions-sides-%d-%d.svg", layer_idx, iRun++), segmented_regions[layer_idx], input_expolygons[layer_idx]); } #endif // MMU_SEGMENTATION_DEBUG_REGIONS } } }); // end of parallel_for BOOST_LOG_TRIVIAL(debug) << "MMU segmentation - layers segmentation in parallel - end"; throw_on_cancel_callback(); if (auto w = print_object.config().mmu_segmented_region_max_width; w > 0.f) { cut_segmented_layers(input_expolygons, segmented_regions, float(-scale_(w)), throw_on_cancel_callback); throw_on_cancel_callback(); } // return segmented_regions; std::vector> top_and_bottom_layers = mmu_segmentation_top_and_bottom_layers(print_object, input_expolygons, throw_on_cancel_callback); throw_on_cancel_callback(); std::vector>> segmented_regions_merged = merge_segmented_layers(segmented_regions, std::move(top_and_bottom_layers), throw_on_cancel_callback); throw_on_cancel_callback(); #ifdef MMU_SEGMENTATION_DEBUG_REGIONS { static int iRun = 0; for (size_t layer_idx = 0; layer_idx < print_object.layers().size(); ++layer_idx) export_regions_to_svg(debug_out_path("mm-regions-merged-%d-%d.svg", layer_idx, iRun++), segmented_regions_merged[layer_idx], input_expolygons[layer_idx]); } #endif // MMU_SEGMENTATION_DEBUG_REGIONS return segmented_regions_merged; } } // namespace Slic3r