236 lines
8.0 KiB
Perl
236 lines
8.0 KiB
Perl
package Slic3r::GCode::ArcFitting;
|
||
use Moo;
|
||
|
||
use Slic3r::Geometry qw(X Y PI scale unscale epsilon scaled_epsilon deg2rad angle3points);
|
||
|
||
extends 'Slic3r::GCode::Reader';
|
||
has 'config' => (is => 'ro', required => 0);
|
||
has 'min_segments' => (is => 'rw', default => sub { 2 });
|
||
has 'max_angle' => (is => 'rw', default => sub { deg2rad(15) });
|
||
has 'len_epsilon' => (is => 'rw', default => sub { scale 0.1 });
|
||
has 'angle_epsilon' => (is => 'rw', default => sub { abs(deg2rad(1)) });
|
||
has '_extrusion_axis' => (is => 'lazy');
|
||
has '_path' => (is => 'rw');
|
||
has '_cur_F' => (is => 'rw');
|
||
has '_cur_E' => (is => 'rw');
|
||
has '_cur_E0' => (is => 'rw');
|
||
has '_comment' => (is => 'rw');
|
||
|
||
sub _build__extrusion_axis {
|
||
my ($self) = @_;
|
||
return $self->config ? $self->config->get_extrusion_axis : 'E';
|
||
}
|
||
|
||
sub process {
|
||
my $self = shift;
|
||
my ($gcode) = @_;
|
||
|
||
die "Arc fitting is not available (incomplete feature)\n";
|
||
die "Arc fitting doesn't support extrusion axis not being E\n" if $self->_extrusion_axis ne 'E';
|
||
|
||
my $new_gcode = "";
|
||
|
||
$self->parse($gcode, sub {
|
||
my ($reader, $cmd, $args, $info) = @_;
|
||
|
||
if ($info->{extruding} && $info->{dist_XY} > 0) {
|
||
# this is an extrusion segment
|
||
|
||
# get segment
|
||
my $line = Slic3r::Line->new(
|
||
Slic3r::Point->new_scale($self->X, $self->Y),
|
||
Slic3r::Point->new_scale($args->{X}, $args->{Y}),
|
||
);
|
||
|
||
# get segment speed
|
||
my $F = $args->{F} // $reader->F;
|
||
|
||
# get extrusion per unscaled distance unit
|
||
my $e = $info->{dist_E} / unscale($line->length);
|
||
|
||
if ($self->_path && $F == $self->_cur_F && abs($e - $self->_cur_E) < epsilon) {
|
||
# if speed and extrusion per unit are the same as the previous segments,
|
||
# append this segment to path
|
||
$self->_path->append($line->b);
|
||
} elsif ($self->_path) {
|
||
# segment can't be appended to previous path, so we flush the previous one
|
||
# and start over
|
||
$new_gcode .= $self->path_to_gcode;
|
||
$self->_path(undef);
|
||
}
|
||
|
||
if (!$self->_path) {
|
||
# if this is the first segment of a path, start it from scratch
|
||
$self->_path(Slic3r::Polyline->new(@$line));
|
||
$self->_cur_F($F);
|
||
$self->_cur_E($e);
|
||
$self->_cur_E0($self->E);
|
||
$self->_comment($info->{comment});
|
||
}
|
||
} else {
|
||
# if we have a path, we flush it and go on
|
||
$new_gcode .= $self->path_to_gcode if $self->_path;
|
||
$new_gcode .= $info->{raw} . "\n";
|
||
$self->_path(undef);
|
||
}
|
||
});
|
||
|
||
$new_gcode .= $self->path_to_gcode if $self->_path;
|
||
return $new_gcode;
|
||
}
|
||
|
||
sub path_to_gcode {
|
||
my ($self) = @_;
|
||
|
||
my @chunks = $self->detect_arcs($self->_path);
|
||
|
||
my $gcode = "";
|
||
my $E = $self->_cur_E0;
|
||
foreach my $chunk (@chunks) {
|
||
if ($chunk->isa('Slic3r::Polyline')) {
|
||
my @lines = @{$chunk->lines};
|
||
|
||
$gcode .= sprintf "G1 F%s\n", $self->_cur_F;
|
||
foreach my $line (@lines) {
|
||
$E += $self->_cur_E * unscale($line->length);
|
||
$gcode .= sprintf "G1 X%.3f Y%.3f %s%.5f",
|
||
(map unscale($_), @{$line->b}),
|
||
$self->_extrusion_axis, $E;
|
||
$gcode .= sprintf " ; %s", $self->_comment if $self->_comment;
|
||
$gcode .= "\n";
|
||
}
|
||
} elsif ($chunk->isa('Slic3r::GCode::ArcFitting::Arc')) {
|
||
$gcode .= !$chunk->is_ccw ? "G2" : "G3";
|
||
$gcode .= sprintf " X%.3f Y%.3f", map unscale($_), @{$chunk->end}; # destination point
|
||
|
||
# XY distance of the center from the start position
|
||
$gcode .= sprintf " I%.3f", unscale($chunk->center->[X] - $chunk->start->[X]);
|
||
$gcode .= sprintf " J%.3f", unscale($chunk->center->[Y] - $chunk->start->[Y]);
|
||
|
||
$E += $self->_cur_E * unscale($chunk->length);
|
||
$gcode .= sprintf " %s%.5f", $self->_extrusion_axis, $E;
|
||
|
||
$gcode .= sprintf " F%s\n", $self->_cur_F;
|
||
}
|
||
}
|
||
return $gcode;
|
||
}
|
||
|
||
sub detect_arcs {
|
||
my ($self, $path) = @_;
|
||
|
||
my @chunks = ();
|
||
my @arc_points = ();
|
||
my $polyline = undef;
|
||
my $arc_start = undef;
|
||
|
||
my @points = @$path;
|
||
for (my $i = 1; $i <= $#points; ++$i) {
|
||
my $end = undef;
|
||
|
||
# we need at least three points to check whether they form an arc
|
||
if ($i < $#points) {
|
||
my $len = $points[$i-1]->distance_to($points[$i]);
|
||
my $rel_angle = angle3points(@points[$i, $i-1, $i+1]);
|
||
for (my $j = $i+1; $j <= $#points; ++$j) {
|
||
# check whether @points[($i-1)..$j] form an arc
|
||
last if abs($points[$j-1]->distance_to($points[$j]) - $len) > $self->len_epsilon;
|
||
last if abs(angle3points(@points[$j-1, $j-2, $j]) - $rel_angle) > $self->angle_epsilon;
|
||
|
||
$end = $j;
|
||
}
|
||
}
|
||
|
||
if (defined $end && ($end - $i + 1) >= $self->min_segments) {
|
||
push @chunks, polyline_to_arc(Slic3r::Polyline->new(@points[($i-1)..$end]));
|
||
|
||
# continue scanning after arc points
|
||
$i = $end;
|
||
next;
|
||
}
|
||
|
||
# if last chunk was a polyline, append to it
|
||
if (@chunks && $chunks[-1]->isa('Slic3r::Polyline')) {
|
||
$chunks[-1]->append($points[$i]);
|
||
} else {
|
||
push @chunks, Slic3r::Polyline->new(@points[($i-1)..$i]);
|
||
}
|
||
}
|
||
|
||
return @chunks;
|
||
}
|
||
|
||
sub polyline_to_arc {
|
||
my ($polyline) = @_;
|
||
|
||
my @points = @$polyline;
|
||
|
||
my $is_ccw = $points[2]->ccw(@points[0,1]) > 0;
|
||
|
||
# to find the center, we intersect the perpendicular lines
|
||
# passing by first and last vertex;
|
||
# a better method would be to draw all the perpendicular lines
|
||
# and find the centroid of the enclosed polygon, or to
|
||
# intersect multiple lines and find the centroid of the convex hull
|
||
# around the intersections
|
||
my $arc_center;
|
||
{
|
||
my $first_ray = Slic3r::Line->new(@points[0,1]);
|
||
$first_ray->rotate(PI/2 * ($is_ccw ? 1 : -1), $points[0]);
|
||
|
||
my $last_ray = Slic3r::Line->new(@points[-2,-1]);
|
||
$last_ray->rotate(PI/2 * ($is_ccw ? -1 : 1), $points[-1]);
|
||
|
||
# require non-parallel rays in order to compute an accurate center
|
||
return if abs($first_ray->atan2_ - $last_ray->atan2_) < deg2rad(30);
|
||
|
||
$arc_center = $first_ray->intersection($last_ray, 0) or return;
|
||
}
|
||
|
||
# angle measured in ccw orientation
|
||
my $abs_angle = Slic3r::Geometry::angle3points($arc_center, @points[0,-1]);
|
||
|
||
my $rel_angle = $is_ccw
|
||
? $abs_angle
|
||
: (2*PI - $abs_angle);
|
||
|
||
my $arc = Slic3r::GCode::ArcFitting::Arc->new(
|
||
start => $points[0]->clone,
|
||
end => $points[-1]->clone,
|
||
center => $arc_center,
|
||
is_ccw => $is_ccw || 0,
|
||
angle => $rel_angle,
|
||
);
|
||
|
||
if (0) {
|
||
printf "points = %d, path length = %f, arc angle = %f, arc length = %f\n",
|
||
scalar(@points),
|
||
unscale(Slic3r::Polyline->new(@points)->length),
|
||
Slic3r::Geometry::rad2deg($rel_angle),
|
||
unscale($arc->length);
|
||
}
|
||
|
||
return $arc;
|
||
}
|
||
|
||
package Slic3r::GCode::ArcFitting::Arc;
|
||
use Moo;
|
||
|
||
has 'start' => (is => 'ro', required => 1);
|
||
has 'end' => (is => 'ro', required => 1);
|
||
has 'center' => (is => 'ro', required => 1);
|
||
has 'is_ccw' => (is => 'ro', required => 1);
|
||
has 'angle' => (is => 'ro', required => 1);
|
||
|
||
sub radius {
|
||
my ($self) = @_;
|
||
return $self->start->distance_to($self->center);
|
||
}
|
||
|
||
sub length {
|
||
my ($self) = @_;
|
||
return $self->radius * $self->angle;
|
||
}
|
||
|
||
1;
|