545 lines
17 KiB
C++
545 lines
17 KiB
C++
#include "SLABasePool.hpp"
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#include "SLABoilerPlate.hpp"
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#include "boost/log/trivial.hpp"
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#include "SLABoostAdapter.hpp"
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#include "ClipperUtils.hpp"
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//#include "SVG.hpp"
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//#include "benchmark.h"
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namespace Slic3r { namespace sla {
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/// Convert the triangulation output to an intermediate mesh.
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Contour3D convert(const Polygons& triangles, coord_t z, bool dir) {
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Pointf3s points;
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points.reserve(3*triangles.size());
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Indices indices;
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indices.reserve(points.size());
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for(auto& tr : triangles) {
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auto c = coord_t(points.size()), b = c++, a = c++;
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if(dir) indices.emplace_back(a, b, c);
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else indices.emplace_back(c, b, a);
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for(auto& p : tr.points) {
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points.emplace_back(unscale(x(p), y(p), z));
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}
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}
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return {points, indices};
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}
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Contour3D walls(const ExPolygon& floor_plate, const ExPolygon& ceiling,
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double floor_z_mm, double ceiling_z_mm) {
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using std::transform; using std::back_inserter;
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ExPolygon poly;
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poly.contour.points = floor_plate.contour.points;
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poly.holes.emplace_back(ceiling.contour);
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auto& h = poly.holes.front();
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std::reverse(h.points.begin(), h.points.end());
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Polygons tri = triangulate(poly);
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Contour3D ret;
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ret.points.reserve(tri.size() * 3);
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double fz = floor_z_mm;
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double cz = ceiling_z_mm;
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auto& rp = ret.points;
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auto& rpi = ret.indices;
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ret.indices.reserve(tri.size() * 3);
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coord_t idx = 0;
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auto hlines = h.lines();
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auto is_upper = [&hlines](const Point& p) {
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return std::any_of(hlines.begin(), hlines.end(),
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[&p](const Line& l) {
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return l.distance_to(p) < mm(1e-6);
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});
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};
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std::for_each(tri.begin(), tri.end(),
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[&rp, &rpi, &poly, &idx, is_upper, fz, cz](const Polygon& pp)
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{
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for(auto& p : pp.points)
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if(is_upper(p))
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rp.emplace_back(unscale(x(p), y(p), mm(cz)));
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else rp.emplace_back(unscale(x(p), y(p), mm(fz)));
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coord_t a = idx++, b = idx++, c = idx++;
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if(fz > cz) rpi.emplace_back(c, b, a);
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else rpi.emplace_back(a, b, c);
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});
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return ret;
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}
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/// Offsetting with clipper and smoothing the edges into a curvature.
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void offset(ExPolygon& sh, coord_t distance) {
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using ClipperLib::ClipperOffset;
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using ClipperLib::jtRound;
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using ClipperLib::etClosedPolygon;
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using ClipperLib::Paths;
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using ClipperLib::Path;
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auto&& ctour = Slic3rMultiPoint_to_ClipperPath(sh.contour);
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auto&& holes = Slic3rMultiPoints_to_ClipperPaths(sh.holes);
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// If the input is not at least a triangle, we can not do this algorithm
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if(ctour.size() < 3 ||
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std::any_of(holes.begin(), holes.end(),
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[](const Path& p) { return p.size() < 3; })
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) {
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BOOST_LOG_TRIVIAL(error) << "Invalid geometry for offsetting!";
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return;
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}
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ClipperOffset offs;
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offs.ArcTolerance = 0.01*mm(1);
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Paths result;
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offs.AddPath(ctour, jtRound, etClosedPolygon);
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offs.AddPaths(holes, jtRound, etClosedPolygon);
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offs.Execute(result, static_cast<double>(distance));
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// Offsetting reverts the orientation and also removes the last vertex
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// so boost will not have a closed polygon.
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bool found_the_contour = false;
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sh.holes.clear();
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for(auto& r : result) {
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if(ClipperLib::Orientation(r)) {
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// We don't like if the offsetting generates more than one contour
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// but throwing would be an overkill. Instead, we should warn the
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// caller about the inability to create correct geometries
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if(!found_the_contour) {
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auto rr = ClipperPath_to_Slic3rPolygon(r);
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sh.contour.points.swap(rr.points);
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found_the_contour = true;
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} else {
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BOOST_LOG_TRIVIAL(warning)
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<< "Warning: offsetting result is invalid!";
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}
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} else {
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// TODO If there are multiple contours we can't be sure which hole
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// belongs to the first contour. (But in this case the situation is
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// bad enough to let it go...)
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sh.holes.emplace_back(ClipperPath_to_Slic3rPolygon(r));
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}
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}
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}
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/// Unification of polygons (with clipper) preserving holes as well.
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ExPolygons unify(const ExPolygons& shapes) {
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using ClipperLib::ptSubject;
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ExPolygons retv;
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bool closed = true;
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bool valid = true;
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ClipperLib::Clipper clipper;
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for(auto& path : shapes) {
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auto clipperpath = Slic3rMultiPoint_to_ClipperPath(path.contour);
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if(!clipperpath.empty())
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valid &= clipper.AddPath(clipperpath, ptSubject, closed);
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auto clipperholes = Slic3rMultiPoints_to_ClipperPaths(path.holes);
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for(auto& hole : clipperholes) {
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if(!hole.empty())
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valid &= clipper.AddPath(hole, ptSubject, closed);
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}
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}
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if(!valid) BOOST_LOG_TRIVIAL(warning) << "Unification of invalid shapes!";
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ClipperLib::PolyTree result;
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clipper.Execute(ClipperLib::ctUnion, result, ClipperLib::pftNonZero);
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retv.reserve(static_cast<size_t>(result.Total()));
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// Now we will recursively traverse the polygon tree and serialize it
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// into an ExPolygon with holes. The polygon tree has the clipper-ish
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// PolyTree structure which alternates its nodes as contours and holes
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// A "declaration" of function for traversing leafs which are holes
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std::function<void(ClipperLib::PolyNode*, ExPolygon&)> processHole;
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// Process polygon which calls processHoles which than calls processPoly
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// again until no leafs are left.
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auto processPoly = [&retv, &processHole](ClipperLib::PolyNode *pptr) {
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ExPolygon poly;
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poly.contour.points = ClipperPath_to_Slic3rPolygon(pptr->Contour);
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for(auto h : pptr->Childs) { processHole(h, poly); }
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retv.push_back(poly);
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};
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// Body of the processHole function
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processHole = [&processPoly](ClipperLib::PolyNode *pptr, ExPolygon& poly)
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{
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poly.holes.emplace_back();
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poly.holes.back().points = ClipperPath_to_Slic3rPolygon(pptr->Contour);
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for(auto c : pptr->Childs) processPoly(c);
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};
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// Wrapper for traversing.
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auto traverse = [&processPoly] (ClipperLib::PolyNode *node)
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{
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for(auto ch : node->Childs) {
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processPoly(ch);
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}
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};
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// Here is the actual traverse
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traverse(&result);
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return retv;
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}
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/// Only a debug function to generate top and bottom plates from a 2D shape.
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/// It is not used in the algorithm directly.
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inline Contour3D roofs(const ExPolygon& poly, coord_t z_distance) {
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Polygons triangles = triangulate(poly);
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auto lower = convert(triangles, 0, false);
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auto upper = convert(triangles, z_distance, true);
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lower.merge(upper);
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return lower;
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}
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template<class ExP, class D>
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Contour3D round_edges(const ExPolygon& base_plate,
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double radius_mm,
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double degrees,
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double ceilheight_mm,
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bool dir,
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ExP&& last_offset = ExP(), D&& last_height = D())
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{
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auto ob = base_plate;
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auto ob_prev = ob;
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double wh = ceilheight_mm, wh_prev = wh;
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Contour3D curvedwalls;
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int steps = 15; // int(std::ceil(10*std::pow(radius_mm, 1.0/3)));
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double stepx = radius_mm / steps;
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coord_t s = dir? 1 : -1;
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degrees = std::fmod(degrees, 180);
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if(degrees >= 90) {
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for(int i = 1; i <= steps; ++i) {
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ob = base_plate;
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double r2 = radius_mm * radius_mm;
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double xx = i*stepx;
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double x2 = xx*xx;
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double stepy = std::sqrt(r2 - x2);
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offset(ob, s*mm(xx));
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wh = ceilheight_mm - radius_mm + stepy;
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Contour3D pwalls;
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pwalls = walls(ob, ob_prev, wh, wh_prev);
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curvedwalls.merge(pwalls);
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ob_prev = ob;
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wh_prev = wh;
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}
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}
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double tox = radius_mm - radius_mm*std::sin(degrees * PI / 180);
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int tos = int(tox / stepx);
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for(int i = 1; i <= tos; ++i) {
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ob = base_plate;
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double r2 = radius_mm * radius_mm;
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double xx = radius_mm - i*stepx;
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double x2 = xx*xx;
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double stepy = std::sqrt(r2 - x2);
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offset(ob, s*mm(xx));
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wh = ceilheight_mm - radius_mm - stepy;
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Contour3D pwalls;
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pwalls = walls(ob_prev, ob, wh_prev, wh);
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curvedwalls.merge(pwalls);
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ob_prev = ob;
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wh_prev = wh;
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}
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last_offset = std::move(ob);
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last_height = wh;
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return curvedwalls;
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}
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/// Generating the concave part of the 3D pool with the bottom plate and the
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/// side walls.
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Contour3D inner_bed(const ExPolygon& poly, double depth_mm,
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double begin_h_mm = 0) {
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Polygons triangles = triangulate(poly);
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coord_t depth = mm(depth_mm);
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coord_t begin_h = mm(begin_h_mm);
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auto bottom = convert(triangles, -depth + begin_h, false);
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auto lines = poly.lines();
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// Generate outer walls
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auto fp = [](const Point& p, Point::coord_type z) {
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return unscale(x(p), y(p), z);
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};
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for(auto& l : lines) {
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auto s = coord_t(bottom.points.size());
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bottom.points.emplace_back(fp(l.a, -depth + begin_h));
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bottom.points.emplace_back(fp(l.b, -depth + begin_h));
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bottom.points.emplace_back(fp(l.a, begin_h));
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bottom.points.emplace_back(fp(l.b, begin_h));
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bottom.indices.emplace_back(s + 3, s + 1, s);
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bottom.indices.emplace_back(s + 2, s + 3, s);
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}
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return bottom;
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}
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inline Point centroid(Points& pp) {
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Point c;
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switch(pp.size()) {
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case 0: break;
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case 1: c = pp.front(); break;
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case 2: c = (pp[0] + pp[1]) / 2; break;
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default: {
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auto MAX = std::numeric_limits<Point::coord_type>::max();
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auto MIN = std::numeric_limits<Point::coord_type>::min();
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Point min = {MAX, MAX}, max = {MIN, MIN};
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for(auto& p : pp) {
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if(p(0) < min(0)) min(0) = p(0);
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if(p(1) < min(1)) min(1) = p(1);
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if(p(0) > max(0)) max(0) = p(0);
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if(p(1) > max(1)) max(1) = p(1);
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}
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c(0) = min(0) + (max(0) - min(0)) / 2;
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c(1) = min(1) + (max(1) - min(1)) / 2;
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// TODO: fails for non convex cluster
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// c = std::accumulate(pp.begin(), pp.end(), Point{0, 0});
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// x(c) /= coord_t(pp.size()); y(c) /= coord_t(pp.size());
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break;
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}
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}
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return c;
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}
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inline Point centroid(const ExPolygon& poly) {
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return poly.contour.centroid();
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}
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/// A fake concave hull that is constructed by connecting separate shapes
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/// with explicit bridges. Bridges are generated from each shape's centroid
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/// to the center of the "scene" which is the centroid calculated from the shape
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/// centroids (a star is created...)
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ExPolygons concave_hull(const ExPolygons& polys, double max_dist_mm = 50)
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{
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namespace bgi = boost::geometry::index;
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using SpatElement = std::pair<BoundingBox, unsigned>;
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using SpatIndex = bgi::rtree< SpatElement, bgi::rstar<16, 4> >;
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if(polys.empty()) return ExPolygons();
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ExPolygons punion = unify(polys); // could be redundant
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if(punion.size() == 1) return punion;
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// We get the centroids of all the islands in the 2D slice
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Points centroids; centroids.reserve(punion.size());
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std::transform(punion.begin(), punion.end(), std::back_inserter(centroids),
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[](const ExPolygon& poly) { return centroid(poly); });
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SpatIndex boxindex; unsigned idx = 0;
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std::for_each(punion.begin(), punion.end(),
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[&boxindex, &idx](const ExPolygon& expo) {
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BoundingBox bb(expo);
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boxindex.insert(std::make_pair(bb, idx++));
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});
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// Centroid of the centroids of islands. This is where the additional
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// connector sticks are routed.
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Point cc = centroid(centroids);
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punion.reserve(punion.size() + centroids.size());
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idx = 0;
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std::transform(centroids.begin(), centroids.end(),
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std::back_inserter(punion),
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[&punion, &boxindex, cc, max_dist_mm, &idx](const Point& c)
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{
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double dx = x(c) - x(cc), dy = y(c) - y(cc);
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double l = std::sqrt(dx * dx + dy * dy);
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double nx = dx / l, ny = dy / l;
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double max_dist = mm(max_dist_mm);
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ExPolygon& expo = punion[idx++];
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BoundingBox querybb(expo);
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querybb.offset(max_dist);
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std::vector<SpatElement> result;
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boxindex.query(bgi::intersects(querybb), std::back_inserter(result));
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if(result.size() <= 1) return ExPolygon();
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ExPolygon r;
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auto& ctour = r.contour.points;
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ctour.reserve(3);
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ctour.emplace_back(cc);
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Point d(coord_t(mm(1)*nx), coord_t(mm(1)*ny));
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ctour.emplace_back(c + Point( -y(d), x(d) ));
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ctour.emplace_back(c + Point( y(d), -x(d) ));
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offset(r, mm(1));
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return r;
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});
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punion = unify(punion);
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return punion;
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}
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void base_plate(const TriangleMesh &mesh, ExPolygons &output, float h,
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float layerh)
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{
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TriangleMesh m = mesh;
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TriangleMeshSlicer slicer(&m);
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auto bb = mesh.bounding_box();
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float gnd = float(bb.min(Z));
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std::vector<float> heights = {float(bb.min(Z))};
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for(float hi = gnd + layerh; hi <= gnd + h; hi += layerh)
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heights.emplace_back(hi);
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std::vector<ExPolygons> out; out.reserve(size_t(std::ceil(h/layerh)));
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slicer.slice(heights, &out, [](){});
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size_t count = 0; for(auto& o : out) count += o.size();
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ExPolygons tmp; tmp.reserve(count);
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for(auto& o : out) for(auto& e : o) tmp.emplace_back(std::move(e));
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output = unify(tmp);
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for(auto& o : output) o = o.simplify(0.1/SCALING_FACTOR).front();
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}
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void create_base_pool(const ExPolygons &ground_layer, TriangleMesh& out,
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const PoolConfig& cfg)
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{
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double mdist = 2*(1.8*cfg.min_wall_thickness_mm + 4*cfg.edge_radius_mm) +
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cfg.max_merge_distance_mm;
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auto concavehs = concave_hull(ground_layer, mdist);
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for(ExPolygon& concaveh : concavehs) {
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if(concaveh.contour.points.empty()) return;
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concaveh.holes.clear();
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const coord_t WALL_THICKNESS = mm(cfg.min_wall_thickness_mm);
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const coord_t WALL_DISTANCE = mm(2*cfg.edge_radius_mm) +
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coord_t(0.8*WALL_THICKNESS);
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const coord_t HEIGHT = mm(cfg.min_wall_height_mm);
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auto outer_base = concaveh;
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offset(outer_base, WALL_THICKNESS+WALL_DISTANCE);
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auto inner_base = outer_base;
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offset(inner_base, -WALL_THICKNESS);
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inner_base.holes.clear(); outer_base.holes.clear();
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ExPolygon top_poly;
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top_poly.contour = outer_base.contour;
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top_poly.holes.emplace_back(inner_base.contour);
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auto& tph = top_poly.holes.back().points;
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std::reverse(tph.begin(), tph.end());
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Contour3D pool;
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ExPolygon ob = outer_base; double wh = 0;
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// now we will calculate the angle or portion of the circle from
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// pi/2 that will connect perfectly with the bottom plate.
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// this is a tangent point calculation problem and the equation can
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// be found for example here:
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// http://www.ambrsoft.com/TrigoCalc/Circles2/CirclePoint/CirclePointDistance.htm
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// the y coordinate would be:
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// y = cy + (r^2*py - r*px*sqrt(px^2 + py^2 - r^2) / (px^2 + py^2)
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// where px and py are the coordinates of the point outside the circle
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// cx and cy are the circle center, r is the radius
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// to get the angle we use arcsin function and subtract 90 degrees then
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// flip the sign to get the right input to the round_edge function.
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double r = cfg.edge_radius_mm;
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double cy = 0;
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double cx = 0;
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double px = cfg.min_wall_thickness_mm;
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double py = r - cfg.min_wall_height_mm;
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double pxcx = px - cx;
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double pycy = py - cy;
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double b_2 = pxcx*pxcx + pycy*pycy;
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double r_2 = r*r;
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double D = std::sqrt(b_2 - r_2);
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double vy = (r_2*pycy - r*pxcx*D) / b_2;
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double phi = -(std::asin(vy/r) * 180 / PI - 90);
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|
|
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auto curvedwalls = round_edges(ob,
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|
r,
|
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phi, // 170 degrees
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|
0, // z position of the input plane
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|
true,
|
|
ob, wh);
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|
|
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pool.merge(curvedwalls);
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|
|
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ExPolygon ob_contr = ob;
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ob_contr.holes.clear();
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|
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auto pwalls = walls(ob_contr, inner_base, wh, -cfg.min_wall_height_mm);
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|
pool.merge(pwalls);
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|
|
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Polygons top_triangles, bottom_triangles;
|
|
triangulate(top_poly, top_triangles);
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|
triangulate(inner_base, bottom_triangles);
|
|
auto top_plate = convert(top_triangles, 0, false);
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|
auto bottom_plate = convert(bottom_triangles, -HEIGHT, true);
|
|
|
|
ob = inner_base; wh = 0;
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|
// rounded edge generation for the inner bed
|
|
curvedwalls = round_edges(ob,
|
|
cfg.edge_radius_mm,
|
|
90, // 90 degrees
|
|
0, // z position of the input plane
|
|
false,
|
|
ob, wh);
|
|
pool.merge(curvedwalls);
|
|
|
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auto innerbed = inner_bed(ob, cfg.min_wall_height_mm/2 + wh, wh);
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|
|
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pool.merge(top_plate);
|
|
pool.merge(bottom_plate);
|
|
pool.merge(innerbed);
|
|
|
|
out.merge(mesh(pool));
|
|
}
|
|
}
|
|
|
|
}
|
|
}
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