412 lines
18 KiB
C++
412 lines
18 KiB
C++
#ifndef slic3r_Point_hpp_
|
|
#define slic3r_Point_hpp_
|
|
|
|
#include "libslic3r.h"
|
|
#include <cstddef>
|
|
#include <vector>
|
|
#include <cmath>
|
|
#include <string>
|
|
#include <sstream>
|
|
#include <unordered_map>
|
|
|
|
#include <Eigen/Geometry>
|
|
|
|
namespace Slic3r {
|
|
|
|
class Line;
|
|
class MultiPoint;
|
|
class Point;
|
|
typedef Point Vector;
|
|
|
|
// Eigen types, to replace the Slic3r's own types in the future.
|
|
// Vector types with a fixed point coordinate base type.
|
|
typedef Eigen::Matrix<coord_t, 2, 1, Eigen::DontAlign> Vec2crd;
|
|
typedef Eigen::Matrix<coord_t, 3, 1, Eigen::DontAlign> Vec3crd;
|
|
typedef Eigen::Matrix<int, 2, 1, Eigen::DontAlign> Vec2i;
|
|
typedef Eigen::Matrix<int, 3, 1, Eigen::DontAlign> Vec3i;
|
|
typedef Eigen::Matrix<int32_t, 2, 1, Eigen::DontAlign> Vec2i32;
|
|
typedef Eigen::Matrix<int64_t, 2, 1, Eigen::DontAlign> Vec2i64;
|
|
typedef Eigen::Matrix<int32_t, 3, 1, Eigen::DontAlign> Vec3i32;
|
|
typedef Eigen::Matrix<int64_t, 3, 1, Eigen::DontAlign> Vec3i64;
|
|
|
|
// Vector types with a double coordinate base type.
|
|
typedef Eigen::Matrix<float, 2, 1, Eigen::DontAlign> Vec2f;
|
|
typedef Eigen::Matrix<float, 3, 1, Eigen::DontAlign> Vec3f;
|
|
typedef Eigen::Matrix<double, 2, 1, Eigen::DontAlign> Vec2d;
|
|
typedef Eigen::Matrix<double, 3, 1, Eigen::DontAlign> Vec3d;
|
|
|
|
typedef std::vector<Point> Points;
|
|
typedef std::vector<Point*> PointPtrs;
|
|
typedef std::vector<const Point*> PointConstPtrs;
|
|
typedef std::vector<Vec3crd> Points3;
|
|
typedef std::vector<Vec2d> Pointfs;
|
|
typedef std::vector<Vec2d> Vec2ds;
|
|
typedef std::vector<Vec3d> Pointf3s;
|
|
|
|
typedef Eigen::Matrix<float, 2, 2, Eigen::DontAlign> Matrix2f;
|
|
typedef Eigen::Matrix<double, 2, 2, Eigen::DontAlign> Matrix2d;
|
|
typedef Eigen::Matrix<float, 3, 3, Eigen::DontAlign> Matrix3f;
|
|
typedef Eigen::Matrix<double, 3, 3, Eigen::DontAlign> Matrix3d;
|
|
|
|
typedef Eigen::Transform<float, 2, Eigen::Affine, Eigen::DontAlign> Transform2f;
|
|
typedef Eigen::Transform<double, 2, Eigen::Affine, Eigen::DontAlign> Transform2d;
|
|
typedef Eigen::Transform<float, 3, Eigen::Affine, Eigen::DontAlign> Transform3f;
|
|
typedef Eigen::Transform<double, 3, Eigen::Affine, Eigen::DontAlign> Transform3d;
|
|
|
|
inline bool operator<(const Vec2d &lhs, const Vec2d &rhs) { return lhs(0) < rhs(0) || (lhs(0) == rhs(0) && lhs(1) < rhs(1)); }
|
|
|
|
inline int32_t cross2(const Vec2i32 &v1, const Vec2i32 &v2) { return v1(0) * v2(1) - v1(1) * v2(0); }
|
|
inline int64_t cross2(const Vec2i64 &v1, const Vec2i64 &v2) { return v1(0) * v2(1) - v1(1) * v2(0); }
|
|
inline float cross2(const Vec2f &v1, const Vec2f &v2) { return v1(0) * v2(1) - v1(1) * v2(0); }
|
|
inline double cross2(const Vec2d &v1, const Vec2d &v2) { return v1(0) * v2(1) - v1(1) * v2(0); }
|
|
|
|
template<class T, int N> Eigen::Matrix<T, 2, 1, Eigen::DontAlign>
|
|
to_2d(const Eigen::Matrix<T, N, 1, Eigen::DontAlign> &ptN) { return {ptN(0), ptN(1)}; }
|
|
|
|
//inline Vec2i32 to_2d(const Vec3i32 &pt3) { return Vec2i32(pt3(0), pt3(1)); }
|
|
//inline Vec2i64 to_2d(const Vec3i64 &pt3) { return Vec2i64(pt3(0), pt3(1)); }
|
|
//inline Vec2f to_2d(const Vec3f &pt3) { return Vec2f (pt3(0), pt3(1)); }
|
|
//inline Vec2d to_2d(const Vec3d &pt3) { return Vec2d (pt3(0), pt3(1)); }
|
|
|
|
inline Vec3d to_3d(const Vec2d &v, double z) { return Vec3d(v(0), v(1), z); }
|
|
inline Vec3f to_3d(const Vec2f &v, float z) { return Vec3f(v(0), v(1), z); }
|
|
inline Vec3i64 to_3d(const Vec2i64 &v, float z) { return Vec3i64(int64_t(v(0)), int64_t(v(1)), int64_t(z)); }
|
|
inline Vec3crd to_3d(const Vec3crd &p, coord_t z) { return Vec3crd(p(0), p(1), z); }
|
|
|
|
inline Vec2d unscale(coord_t x, coord_t y) { return Vec2d(unscale<double>(x), unscale<double>(y)); }
|
|
inline Vec2d unscale(const Vec2crd &pt) { return Vec2d(unscale<double>(pt(0)), unscale<double>(pt(1))); }
|
|
inline Vec2d unscale(const Vec2d &pt) { return Vec2d(unscale<double>(pt(0)), unscale<double>(pt(1))); }
|
|
inline Vec3d unscale(coord_t x, coord_t y, coord_t z) { return Vec3d(unscale<double>(x), unscale<double>(y), unscale<double>(z)); }
|
|
inline Vec3d unscale(const Vec3crd &pt) { return Vec3d(unscale<double>(pt(0)), unscale<double>(pt(1)), unscale<double>(pt(2))); }
|
|
inline Vec3d unscale(const Vec3d &pt) { return Vec3d(unscale<double>(pt(0)), unscale<double>(pt(1)), unscale<double>(pt(2))); }
|
|
|
|
inline std::string to_string(const Vec2crd &pt) { return std::string("[") + std::to_string(pt(0)) + ", " + std::to_string(pt(1)) + "]"; }
|
|
inline std::string to_string(const Vec2d &pt) { return std::string("[") + std::to_string(pt(0)) + ", " + std::to_string(pt(1)) + "]"; }
|
|
inline std::string to_string(const Vec3crd &pt) { return std::string("[") + std::to_string(pt(0)) + ", " + std::to_string(pt(1)) + ", " + std::to_string(pt(2)) + "]"; }
|
|
inline std::string to_string(const Vec3d &pt) { return std::string("[") + std::to_string(pt(0)) + ", " + std::to_string(pt(1)) + ", " + std::to_string(pt(2)) + "]"; }
|
|
|
|
std::vector<Vec3f> transform(const std::vector<Vec3f>& points, const Transform3f& t);
|
|
Pointf3s transform(const Pointf3s& points, const Transform3d& t);
|
|
|
|
template<int N, class T> using Vec = Eigen::Matrix<T, N, 1, Eigen::DontAlign, N, 1>;
|
|
|
|
class Point : public Vec2crd
|
|
{
|
|
public:
|
|
typedef coord_t coord_type;
|
|
|
|
Point() : Vec2crd(0, 0) {}
|
|
Point(int32_t x, int32_t y) : Vec2crd(coord_t(x), coord_t(y)) {}
|
|
Point(int64_t x, int64_t y) : Vec2crd(coord_t(x), coord_t(y)) {}
|
|
Point(double x, double y) : Vec2crd(coord_t(lrint(x)), coord_t(lrint(y))) {}
|
|
Point(const Point &rhs) { *this = rhs; }
|
|
explicit Point(const Vec2d& rhs) : Vec2crd(coord_t(lrint(rhs.x())), coord_t(lrint(rhs.y()))) {}
|
|
// This constructor allows you to construct Point from Eigen expressions
|
|
template<typename OtherDerived>
|
|
Point(const Eigen::MatrixBase<OtherDerived> &other) : Vec2crd(other) {}
|
|
static Point new_scale(coordf_t x, coordf_t y) { return Point(coord_t(scale_(x)), coord_t(scale_(y))); }
|
|
|
|
// This method allows you to assign Eigen expressions to MyVectorType
|
|
template<typename OtherDerived>
|
|
Point& operator=(const Eigen::MatrixBase<OtherDerived> &other)
|
|
{
|
|
this->Vec2crd::operator=(other);
|
|
return *this;
|
|
}
|
|
|
|
bool operator< (const Point& rhs) const { return (*this)(0) < rhs(0) || ((*this)(0) == rhs(0) && (*this)(1) < rhs(1)); }
|
|
|
|
Point& operator+=(const Point& rhs) { (*this)(0) += rhs(0); (*this)(1) += rhs(1); return *this; }
|
|
Point& operator-=(const Point& rhs) { (*this)(0) -= rhs(0); (*this)(1) -= rhs(1); return *this; }
|
|
Point& operator*=(const double &rhs) { (*this)(0) = coord_t((*this)(0) * rhs); (*this)(1) = coord_t((*this)(1) * rhs); return *this; }
|
|
Point operator*(const double &rhs) { return Point((*this)(0) * rhs, (*this)(1) * rhs); }
|
|
|
|
void rotate(double angle);
|
|
void rotate(double angle, const Point ¢er);
|
|
Point rotated(double angle) const { Point res(*this); res.rotate(angle); return res; }
|
|
Point rotated(double angle, const Point ¢er) const { Point res(*this); res.rotate(angle, center); return res; }
|
|
int nearest_point_index(const Points &points) const;
|
|
int nearest_point_index(const PointConstPtrs &points) const;
|
|
int nearest_point_index(const PointPtrs &points) const;
|
|
bool nearest_point(const Points &points, Point* point) const;
|
|
double ccw(const Point &p1, const Point &p2) const;
|
|
double ccw(const Line &line) const;
|
|
double ccw_angle(const Point &p1, const Point &p2) const;
|
|
Point projection_onto(const MultiPoint &poly) const;
|
|
Point projection_onto(const Line &line) const;
|
|
};
|
|
|
|
inline bool is_approx(const Point &p1, const Point &p2, coord_t epsilon = coord_t(SCALED_EPSILON))
|
|
{
|
|
Point d = (p2 - p1).cwiseAbs();
|
|
return d.x() < epsilon && d.y() < epsilon;
|
|
}
|
|
|
|
inline bool is_approx(const Vec2f &p1, const Vec2f &p2, float epsilon = float(EPSILON))
|
|
{
|
|
Vec2f d = (p2 - p1).cwiseAbs();
|
|
return d.x() < epsilon && d.y() < epsilon;
|
|
}
|
|
|
|
inline bool is_approx(const Vec2d &p1, const Vec2d &p2, double epsilon = EPSILON)
|
|
{
|
|
Vec2d d = (p2 - p1).cwiseAbs();
|
|
return d.x() < epsilon && d.y() < epsilon;
|
|
}
|
|
|
|
inline bool is_approx(const Vec3f &p1, const Vec3f &p2, float epsilon = float(EPSILON))
|
|
{
|
|
Vec3f d = (p2 - p1).cwiseAbs();
|
|
return d.x() < epsilon && d.y() < epsilon && d.z() < epsilon;
|
|
}
|
|
|
|
inline bool is_approx(const Vec3d &p1, const Vec3d &p2, double epsilon = EPSILON)
|
|
{
|
|
Vec3d d = (p2 - p1).cwiseAbs();
|
|
return d.x() < epsilon && d.y() < epsilon && d.z() < epsilon;
|
|
}
|
|
|
|
namespace int128 {
|
|
// Exact orientation predicate,
|
|
// returns +1: CCW, 0: collinear, -1: CW.
|
|
int orient(const Vec2crd &p1, const Vec2crd &p2, const Vec2crd &p3);
|
|
// Exact orientation predicate,
|
|
// returns +1: CCW, 0: collinear, -1: CW.
|
|
int cross(const Vec2crd &v1, const Vec2crd &v2);
|
|
}
|
|
|
|
// To be used by std::unordered_map, std::unordered_multimap and friends.
|
|
struct PointHash {
|
|
size_t operator()(const Vec2crd &pt) const {
|
|
return std::hash<coord_t>()(pt(0)) ^ std::hash<coord_t>()(pt(1));
|
|
}
|
|
};
|
|
|
|
// A generic class to search for a closest Point in a given radius.
|
|
// It uses std::unordered_multimap to implement an efficient 2D spatial hashing.
|
|
// The PointAccessor has to return const Point*.
|
|
// If a nullptr is returned, it is ignored by the query.
|
|
template<typename ValueType, typename PointAccessor> class ClosestPointInRadiusLookup
|
|
{
|
|
public:
|
|
ClosestPointInRadiusLookup(coord_t search_radius, PointAccessor point_accessor = PointAccessor()) :
|
|
m_search_radius(search_radius), m_point_accessor(point_accessor), m_grid_log2(0)
|
|
{
|
|
// Resolution of a grid, twice the search radius + some epsilon.
|
|
coord_t gridres = 2 * m_search_radius + 4;
|
|
m_grid_resolution = gridres;
|
|
assert(m_grid_resolution > 0);
|
|
assert(m_grid_resolution < (coord_t(1) << 30));
|
|
// Compute m_grid_log2 = log2(m_grid_resolution)
|
|
if (m_grid_resolution > 32767) {
|
|
m_grid_resolution >>= 16;
|
|
m_grid_log2 += 16;
|
|
}
|
|
if (m_grid_resolution > 127) {
|
|
m_grid_resolution >>= 8;
|
|
m_grid_log2 += 8;
|
|
}
|
|
if (m_grid_resolution > 7) {
|
|
m_grid_resolution >>= 4;
|
|
m_grid_log2 += 4;
|
|
}
|
|
if (m_grid_resolution > 1) {
|
|
m_grid_resolution >>= 2;
|
|
m_grid_log2 += 2;
|
|
}
|
|
if (m_grid_resolution > 0)
|
|
++ m_grid_log2;
|
|
m_grid_resolution = 1 << m_grid_log2;
|
|
assert(m_grid_resolution >= gridres);
|
|
assert(gridres > m_grid_resolution / 2);
|
|
}
|
|
|
|
void insert(const ValueType &value) {
|
|
const Vec2crd *pt = m_point_accessor(value);
|
|
if (pt != nullptr)
|
|
m_map.emplace(std::make_pair(Vec2crd(pt->x()>>m_grid_log2, pt->y()>>m_grid_log2), value));
|
|
}
|
|
|
|
void insert(ValueType &&value) {
|
|
const Vec2crd *pt = m_point_accessor(value);
|
|
if (pt != nullptr)
|
|
m_map.emplace(std::make_pair(Vec2crd(pt->x()>>m_grid_log2, pt->y()>>m_grid_log2), std::move(value)));
|
|
}
|
|
|
|
// Erase a data point equal to value. (ValueType has to declare the operator==).
|
|
// Returns true if the data point equal to value was found and removed.
|
|
bool erase(const ValueType &value) {
|
|
const Point *pt = m_point_accessor(value);
|
|
if (pt != nullptr) {
|
|
// Range of fragment starts around grid_corner, close to pt.
|
|
auto range = m_map.equal_range(Point((*pt)(0)>>m_grid_log2, (*pt)(1)>>m_grid_log2));
|
|
// Remove the first item.
|
|
for (auto it = range.first; it != range.second; ++ it) {
|
|
if (it->second == value) {
|
|
m_map.erase(it);
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// Return a pair of <ValueType*, distance_squared>
|
|
std::pair<const ValueType*, double> find(const Vec2crd &pt) {
|
|
// Iterate over 4 closest grid cells around pt,
|
|
// find the closest start point inside these cells to pt.
|
|
const ValueType *value_min = nullptr;
|
|
double dist_min = std::numeric_limits<double>::max();
|
|
// Round pt to a closest grid_cell corner.
|
|
Vec2crd grid_corner((pt(0)+(m_grid_resolution>>1))>>m_grid_log2, (pt(1)+(m_grid_resolution>>1))>>m_grid_log2);
|
|
// For four neighbors of grid_corner:
|
|
for (coord_t neighbor_y = -1; neighbor_y < 1; ++ neighbor_y) {
|
|
for (coord_t neighbor_x = -1; neighbor_x < 1; ++ neighbor_x) {
|
|
// Range of fragment starts around grid_corner, close to pt.
|
|
auto range = m_map.equal_range(Vec2crd(grid_corner(0) + neighbor_x, grid_corner(1) + neighbor_y));
|
|
// Find the map entry closest to pt.
|
|
for (auto it = range.first; it != range.second; ++it) {
|
|
const ValueType &value = it->second;
|
|
const Vec2crd *pt2 = m_point_accessor(value);
|
|
if (pt2 != nullptr) {
|
|
const double d2 = (pt - *pt2).cast<double>().squaredNorm();
|
|
if (d2 < dist_min) {
|
|
dist_min = d2;
|
|
value_min = &value;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return (value_min != nullptr && dist_min < coordf_t(m_search_radius) * coordf_t(m_search_radius)) ?
|
|
std::make_pair(value_min, dist_min) :
|
|
std::make_pair(nullptr, std::numeric_limits<double>::max());
|
|
}
|
|
|
|
private:
|
|
typedef typename std::unordered_multimap<Vec2crd, ValueType, PointHash> map_type;
|
|
PointAccessor m_point_accessor;
|
|
map_type m_map;
|
|
coord_t m_search_radius;
|
|
coord_t m_grid_resolution;
|
|
coord_t m_grid_log2;
|
|
};
|
|
|
|
std::ostream& operator<<(std::ostream &stm, const Vec2d &pointf);
|
|
|
|
|
|
// /////////////////////////////////////////////////////////////////////////////
|
|
// Type safe conversions to and from scaled and unscaled coordinates
|
|
// /////////////////////////////////////////////////////////////////////////////
|
|
|
|
// Semantics are the following:
|
|
// Upscaling (scaled()): only from floating point types (or Vec) to either
|
|
// floating point or integer 'scaled coord' coordinates.
|
|
// Downscaling (unscaled()): from arithmetic (or Vec) to floating point only
|
|
|
|
// Conversion definition from unscaled to floating point scaled
|
|
template<class Tout,
|
|
class Tin,
|
|
class = FloatingOnly<Tin>>
|
|
inline constexpr FloatingOnly<Tout> scaled(const Tin &v) noexcept
|
|
{
|
|
return Tout(v / Tin(SCALING_FACTOR));
|
|
}
|
|
|
|
// Conversion definition from unscaled to integer 'scaled coord'.
|
|
// TODO: is the rounding necessary? Here it is commented out to show that
|
|
// it can be different for integers but it does not have to be. Using
|
|
// std::round means loosing noexcept and constexpr modifiers
|
|
template<class Tout = coord_t, class Tin, class = FloatingOnly<Tin>>
|
|
inline constexpr ScaledCoordOnly<Tout> scaled(const Tin &v) noexcept
|
|
{
|
|
//return static_cast<Tout>(std::round(v / SCALING_FACTOR));
|
|
return Tout(v / Tin(SCALING_FACTOR));
|
|
}
|
|
|
|
// Conversion for Eigen vectors (N dimensional points)
|
|
template<class Tout = coord_t,
|
|
class Tin,
|
|
int N,
|
|
class = FloatingOnly<Tin>,
|
|
int...EigenArgs>
|
|
inline Eigen::Matrix<ArithmeticOnly<Tout>, N, EigenArgs...>
|
|
scaled(const Eigen::Matrix<Tin, N, EigenArgs...> &v)
|
|
{
|
|
return (v / SCALING_FACTOR).template cast<Tout>();
|
|
}
|
|
|
|
// Conversion from arithmetic scaled type to floating point unscaled
|
|
template<class Tout = double,
|
|
class Tin,
|
|
class = ArithmeticOnly<Tin>,
|
|
class = FloatingOnly<Tout>>
|
|
inline constexpr Tout unscaled(const Tin &v) noexcept
|
|
{
|
|
return Tout(v * Tout(SCALING_FACTOR));
|
|
}
|
|
|
|
// Unscaling for Eigen vectors. Input base type can be arithmetic, output base
|
|
// type can only be floating point.
|
|
template<class Tout = double,
|
|
class Tin,
|
|
int N,
|
|
class = ArithmeticOnly<Tin>,
|
|
class = FloatingOnly<Tout>,
|
|
int...EigenArgs>
|
|
inline constexpr Eigen::Matrix<Tout, N, EigenArgs...>
|
|
unscaled(const Eigen::Matrix<Tin, N, EigenArgs...> &v) noexcept
|
|
{
|
|
return v.template cast<Tout>() * SCALING_FACTOR;
|
|
}
|
|
|
|
} // namespace Slic3r
|
|
|
|
// start Boost
|
|
#include <boost/version.hpp>
|
|
#include <boost/polygon/polygon.hpp>
|
|
namespace boost { namespace polygon {
|
|
template <>
|
|
struct geometry_concept<Slic3r::Point> { typedef point_concept type; };
|
|
|
|
template <>
|
|
struct point_traits<Slic3r::Point> {
|
|
typedef coord_t coordinate_type;
|
|
|
|
static inline coordinate_type get(const Slic3r::Point& point, orientation_2d orient) {
|
|
return (coordinate_type)point((orient == HORIZONTAL) ? 0 : 1);
|
|
}
|
|
};
|
|
|
|
template <>
|
|
struct point_mutable_traits<Slic3r::Point> {
|
|
typedef coord_t coordinate_type;
|
|
static inline void set(Slic3r::Point& point, orientation_2d orient, coord_t value) {
|
|
point((orient == HORIZONTAL) ? 0 : 1) = value;
|
|
}
|
|
static inline Slic3r::Point construct(coord_t x_value, coord_t y_value) {
|
|
return Slic3r::Point(x_value, y_value);
|
|
}
|
|
};
|
|
} }
|
|
// end Boost
|
|
|
|
// Serialization through the Cereal library
|
|
namespace cereal {
|
|
// template<class Archive> void serialize(Archive& archive, Slic3r::Vec2crd &v) { archive(v.x(), v.y()); }
|
|
// template<class Archive> void serialize(Archive& archive, Slic3r::Vec3crd &v) { archive(v.x(), v.y(), v.z()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec2i &v) { archive(v.x(), v.y()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec3i &v) { archive(v.x(), v.y(), v.z()); }
|
|
// template<class Archive> void serialize(Archive& archive, Slic3r::Vec2i64 &v) { archive(v.x(), v.y()); }
|
|
// template<class Archive> void serialize(Archive& archive, Slic3r::Vec3i64 &v) { archive(v.x(), v.y(), v.z()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec2f &v) { archive(v.x(), v.y()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec3f &v) { archive(v.x(), v.y(), v.z()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec2d &v) { archive(v.x(), v.y()); }
|
|
template<class Archive> void serialize(Archive& archive, Slic3r::Vec3d &v) { archive(v.x(), v.y(), v.z()); }
|
|
|
|
template<class Archive> void load(Archive& archive, Slic3r::Matrix2f &m) { archive.loadBinary((char*)m.data(), sizeof(float) * 4); }
|
|
template<class Archive> void save(Archive& archive, Slic3r::Matrix2f &m) { archive.saveBinary((char*)m.data(), sizeof(float) * 4); }
|
|
}
|
|
|
|
#endif
|