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FIX: collision caused by pick safe pos in object mode

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jira:NONE

Signed-off-by: xun.zhang <xun.zhang@bambulab.com>
Change-Id: Ic9a45e314ffa1115854736516cc06dfd976c28f9
This commit is contained in:
xun.zhang 2025-05-28 21:38:27 +08:00 committed by lane.wei
parent 17a5a415e6
commit 04d90ac16d
1 changed files with 67 additions and 39 deletions
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104
src/libslic3r/GCode/TimelapsePosPicker.cpp
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@ -2,6 +2,7 @@
#include "Layer.hpp"
constexpr int FILTER_THRESHOLD = 5;
constexpr int MAX_CANDIDATE_SIZE = 5;
namespace Slic3r {
void TimelapsePosPicker::init(const Print* print_, const Point& plate_offset)
@ -209,7 +210,7 @@ namespace Slic3r {
object_y_ranges.emplace_back(m_plate_height, m_plate_height);
int lower_y_pos = -1, upper_y_pos =-1;
auto unscaled_curr_pos = unscale(ctx.curr_pos);
Point unscaled_curr_pos = {unscale_(ctx.curr_pos.x())-m_plate_offset.x(), unscale_(ctx.curr_pos.y()) - m_plate_offset.y()};
for (size_t idx = 1; idx < object_y_ranges.size(); ++idx) {
if (unscaled_curr_pos.y() >= object_y_ranges[idx - 1].second && unscaled_curr_pos.y() <= object_y_ranges[idx].first) {
@ -353,31 +354,28 @@ namespace Slic3r {
* @param safe_areas A collection of extended polygons defining the safe areas.
* @return Point The nearest point within the safe areas or the default timelapse position if no safe areas exist.
*/
Point pick_pos_internal(const Point& curr_pos, const ExPolygons& safe_areas)
Point pick_pos_internal(const Point& curr_pos, const ExPolygons& safe_areas, const ExPolygons& path_collision_area, bool detect_path_collision)
{
if (std::any_of(safe_areas.begin(), safe_areas.end(), [&curr_pos](const ExPolygon& p) { return p.contains(curr_pos);}))
struct CandidatePoint
{
double dist;
Point point;
bool operator<(const CandidatePoint& other) const {
return dist < other.dist;
}
};
if (std::any_of(safe_areas.begin(), safe_areas.end(), [&curr_pos](const ExPolygon& p) { return p.contains(curr_pos); }))
return curr_pos;
if (safe_areas.empty())
return DefaultTimelapsePos;
std::priority_queue<CandidatePoint> max_heap;
double min_distance = std::numeric_limits<double>::max();
Point nearest_point =DefaultTimelapsePos;
#if 0
for (const auto& expoly : safe_areas) {
Polygons polys = to_polygons(expoly);
for (auto& poly : polys) {
auto nearest_point_ptr = poly.closest_point(curr_pos);
if (nearest_point_ptr) {
double dist = (*nearest_point_ptr - curr_pos).cast<double>().norm();
if (min_distance > dist) {
min_distance = dist;
nearest_point = *nearest_point_ptr;
}
}
}
}
#else
Point nearest_point = DefaultTimelapsePos;
for (const auto& expoly : safe_areas) {
Polygons polys = to_polygons(expoly);
for (auto& poly : polys) {
@ -385,15 +383,31 @@ namespace Slic3r {
Line line(poly.points[idx], poly.points[next_idx_modulo(idx, poly.points)]);
Point candidate;
double dist = line.distance_to_squared(curr_pos, &candidate);
if (min_distance > dist) {
min_distance = dist;
nearest_point = candidate;
max_heap.push({ dist,candidate });
if (max_heap.size() > MAX_CANDIDATE_SIZE)
max_heap.pop();
}
}
}
std::vector<Point> top_candidates;
while (!max_heap.empty()) {
top_candidates.push_back(max_heap.top().point);
max_heap.pop();
}
#endif
return nearest_point;
std::reverse(top_candidates.begin(), top_candidates.end());
for (auto& p : top_candidates) {
if (!detect_path_collision)
return p;
Polyline path(curr_pos, p);
if (intersection_pl(path, path_collision_area).empty())
return p;
}
return DefaultTimelapsePos;
}
Point TimelapsePosPicker::pick_pos(const PosPickCtx& ctx)
@ -418,7 +432,7 @@ namespace Slic3r {
Point min_p{ instance_bbox.min.x(),instance_bbox.min.y() };
Point max_p{ instance_bbox.max.x(),instance_bbox.max.y() };
return { scale_((min_p.x() + max_p.x()) / 2),scale_(min_p.y() + max_p.y() / 2) };
return { scale_((min_p.x() + max_p.x()) / 2),scale_((min_p.y() + max_p.y()) / 2) };
}
// scaled data
@ -444,7 +458,7 @@ namespace Slic3r {
{
float height_gap = 0;
if (ctx.curr_extruder_id != ctx.picture_extruder_id) {
if(m_liftable_extruder_id.has_value() && ctx.picture_extruder_id != m_liftable_extruder_id && m_extruder_height_gap.has_value())
if (m_liftable_extruder_id.has_value() && ctx.picture_extruder_id != m_liftable_extruder_id && m_extruder_height_gap.has_value())
height_gap = -*m_extruder_height_gap;
}
@ -454,16 +468,32 @@ namespace Slic3r {
ExPolygons layer_slices = collect_object_slices_data(ctx.curr_layer, height_gap, object_list, by_object);
Polygons camera_limit_areas = collect_limit_areas_for_camera(object_list);
Polygons rod_limit_areas;
if (m_print_seq == PrintSequence::ByObject) {
rod_limit_areas = collect_limit_areas_for_rod(object_list,ctx);
if (by_object) {
rod_limit_areas = collect_limit_areas_for_rod(object_list, ctx);
}
ExPolygons unplacable_area = union_ex(union_ex(layer_slices, camera_limit_areas),rod_limit_areas);
ExPolygons unplacable_area = union_ex(union_ex(layer_slices, camera_limit_areas), rod_limit_areas);
ExPolygons extruder_printable_area = m_extruder_printable_area[ctx.picture_extruder_id];
ExPolygons safe_area = diff_ex(extruder_printable_area, unplacable_area);
safe_area = opening_ex(safe_area, scale_(FILTER_THRESHOLD));
Point objs_center = get_objects_center(object_list);
return pick_pos_internal(objs_center, safe_area);
Point center_p;
if (by_object && ctx.printed_objects && !ctx.printed_objects->empty())
center_p = get_object_center(ctx.printed_objects->back());
else
center_p = get_objects_center(object_list);
ExPolygons path_collision_area;
if (by_object) {
auto object_without_curr = ctx.printed_objects;
if (object_without_curr && !object_without_curr->empty())
object_without_curr->pop_back();
ExPolygons layer_slices_without_curr = collect_object_slices_data(ctx.curr_layer, height_gap, get_object_list(object_without_curr), by_object);
path_collision_area = union_ex(layer_slices_without_curr, rod_limit_areas);
}
return pick_pos_internal(center_p, safe_area,path_collision_area, by_object);
}
/**
@ -498,6 +528,10 @@ namespace Slic3r {
Point TimelapsePosPicker::pick_pos_for_all_layer(const PosPickCtx& ctx)
{
bool by_object = m_print_seq == PrintSequence::ByObject;
if (by_object)
return DefaultTimelapsePos;
float height_gap = 0;
if (ctx.curr_extruder_id != ctx.picture_extruder_id) {
if (m_liftable_extruder_id.has_value() && ctx.picture_extruder_id != m_liftable_extruder_id && m_extruder_height_gap.has_value())
@ -508,8 +542,6 @@ namespace Slic3r {
if (m_all_layer_pos)
return *m_all_layer_pos;
bool by_object = m_print_seq == PrintSequence::ByObject;
Polygons object_projections;
auto object_list = get_object_list(std::nullopt);
@ -517,10 +549,6 @@ namespace Slic3r {
for (auto& obj : object_list) {
for (auto& instance : obj->instances()) {
const auto& bbox = get_real_instance_bbox(instance);
if (m_print_seq == PrintSequence::ByObject && bbox.max.z() >= m_nozzle_height_to_rod) {
m_all_layer_pos = DefaultTimelapsePos;
return *m_all_layer_pos;
}
Point min_p{ scale_(bbox.min.x()),scale_(bbox.min.y()) };
Point max_p{ scale_(bbox.max.x()),scale_(bbox.max.y()) };
Polygon obj_proj{ { min_p.x(),min_p.y() },
@ -548,7 +576,7 @@ namespace Slic3r {
Point starting_pos = get_objects_center(object_list);
m_all_layer_pos = pick_pos_internal(starting_pos, safe_area);
m_all_layer_pos = pick_pos_internal(starting_pos, safe_area, {}, by_object);
return *m_all_layer_pos;
}