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synced 2025-04-22 21:59:37 +08:00
Finally, use the new convex hull code to compute the object 'shadow' and exclusion zones.
Contributes to CURA-1504
This commit is contained in:
Simon Edwards
parent
0b858f3878
commit
d7127b800c
@ -1,28 +1,20 @@
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from UM.Scene.SceneNodeDecorator import SceneNodeDecorator
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from UM.Application import Application
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from UM.Math.Polygon import Polygon
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from UM.Logger import Logger
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from . import ConvexHullNode
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import numpy
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## The convex hull decorator is a scene node decorator that adds the convex hull functionality to a scene node.
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# If a scene node has a convex hull decorator, it will have a shadow in which other objects can not be printed.
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class ConvexHullDecorator(SceneNodeDecorator):
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def __init__(self):
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def __init__(self,):
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super().__init__()
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self._convex_hull = None
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# In case of printing all at once this is the same as the convex hull.
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# For one at the time this is the area without the head.
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self._convex_hull_boundary = None
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# In case of printing all at once this is the same as the convex hull.
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# For one at the time this is area with intersection of mirrored head
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self._convex_hull_head = None
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# In case of printing all at once this is the same as the convex hull.
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# For one at the time this is area with intersection of full head
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self._convex_hull_head_full = None
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self._convex_hull_node = None
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self._convex_hull_job = None
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self._init2DConvexHullCache()
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self._profile = None
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Application.getInstance().getMachineManager().activeProfileChanged.connect(self._onActiveProfileChanged)
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@ -31,59 +23,56 @@ class ConvexHullDecorator(SceneNodeDecorator):
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## Force that a new (empty) object is created upon copy.
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def __deepcopy__(self, memo):
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copy = ConvexHullDecorator()
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return copy
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return ConvexHullDecorator()
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## Get the unmodified convex hull of the node
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## Get the unmodified 2D projected convex hull of the node
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def getConvexHull(self):
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return self._convex_hull
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hull = self._compute2DConvexHull()
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profile = Application.getInstance().getMachineManager().getWorkingProfile()
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if profile:
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if profile.getSettingValue("print_sequence") == "one_at_a_time" and not self._node.getParent().callDecoration("isGroup"):
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hull = hull.getMinkowskiHull(Polygon(numpy.array(profile.getSettingValue("machine_head_polygon"), numpy.float32)))
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return hull
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## Get the convex hull of the node with the full head size
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def getConvexHullHeadFull(self):
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if not self._convex_hull_head_full:
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return self.getConvexHull()
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return self._convex_hull_head_full
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return self._compute2DConvexHeadFull()
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## Get convex hull of the object + head size
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# In case of printing all at once this is the same as the convex hull.
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# For one at the time this is area with intersection of mirrored head
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def getConvexHullHead(self):
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if not self._convex_hull_head:
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return self.getConvexHull()
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return self._convex_hull_head
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profile = Application.getInstance().getMachineManager().getWorkingProfile()
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if profile:
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if profile.getSettingValue("print_sequence") == "one_at_a_time" and not self._node.getParent().callDecoration(
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"isGroup"):
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return self._compute2DConvexHeadMin()
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return None
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## Get convex hull of the node
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# In case of printing all at once this is the same as the convex hull.
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# For one at the time this is the area without the head.
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def getConvexHullBoundary(self):
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if not self._convex_hull_boundary:
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return self.getConvexHull()
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return self._convex_hull_boundary
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def setConvexHullBoundary(self, hull):
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self._convex_hull_boundary = hull
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profile = Application.getInstance().getMachineManager().getWorkingProfile()
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if profile:
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if profile.getSettingValue("print_sequence") == "one_at_a_time" and not self._node.getParent().callDecoration(
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"isGroup"):
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# Printing one at a time and it's not an object in a group
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return self._compute2DConvexHull()
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return None
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def setConvexHullHeadFull(self, hull):
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self._convex_hull_head_full = hull
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def recomputeConvexHull(self):
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convex_hull = self.getConvexHull()
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if self._convex_hull_node:
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if self._convex_hull_node.getHull() == convex_hull:
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Logger.log('d', 'ConvexHullDecorator not creating a new ConvexHullNode')
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return
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self._convex_hull_node.setParent(None)
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Logger.log('d', 'ConvexHullDecorator creating ConvexHullNode')
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hull_node = ConvexHullNode.ConvexHullNode(self._node, convex_hull,
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Application.getInstance().getController().getScene().getRoot())
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self._convex_hull_node = hull_node
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def setConvexHullHead(self, hull):
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self._convex_hull_head = hull
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def setConvexHull(self, hull):
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self._convex_hull = hull
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def getConvexHullJob(self):
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return self._convex_hull_job
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def setConvexHullJob(self, job):
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self._convex_hull_job = job
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def getConvexHullNode(self):
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return self._convex_hull_node
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def setConvexHullNode(self, node):
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self._convex_hull_node = node
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def _onActiveProfileChanged(self):
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if self._profile:
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self._profile.settingValueChanged.disconnect(self._onSettingValueChanged)
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@ -94,18 +83,118 @@ class ConvexHullDecorator(SceneNodeDecorator):
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self._profile.settingValueChanged.connect(self._onSettingValueChanged)
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def _onActiveMachineInstanceChanged(self):
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if self._convex_hull_job:
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self._convex_hull_job.cancel()
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self.setConvexHull(None)
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if self._convex_hull_node:
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self._convex_hull_node.setParent(None)
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self._convex_hull_node = None
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def _onSettingValueChanged(self, setting):
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if setting == "print_sequence":
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if self._convex_hull_job:
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self._convex_hull_job.cancel()
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self.setConvexHull(None)
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if self._convex_hull_node:
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self._convex_hull_node.setParent(None)
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self._convex_hull_node = None
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self.recomputeConvexHull()
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def _init2DConvexHullCache(self):
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# Cache for the group code path in _compute2DConvexHull()
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self._2d_convex_hull_group_child_polygon = None
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self._2d_convex_hull_group_result = None
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# Cache for the mesh code path in _compute2DConvexHull()
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self._2d_convex_hull_mesh = None
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self._2d_convex_hull_mesh_world_transform = None
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self._2d_convex_hull_mesh_result = None
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def _compute2DConvexHull(self):
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if self._node.callDecoration("isGroup"):
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points = numpy.zeros((0, 2), dtype=numpy.int32)
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for child in self._node.getChildren():
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child_hull = child.callDecoration("_compute2DConvexHull")
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if child_hull:
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points = numpy.append(points, child_hull.getPoints(), axis = 0)
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if points.size < 3:
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return None
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child_polygon = Polygon(points)
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# Check the cache
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if child_polygon == self._2d_convex_hull_group_child_polygon:
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# Logger.log('d', 'Cache hit in _compute2DConvexHull group path')
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return self._2d_convex_hull_group_result
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# First, calculate the normal convex hull around the points
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convex_hull = child_polygon.getConvexHull()
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# Then, do a Minkowski hull with a simple 1x1 quad to outset and round the normal convex hull.
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# This is done because of rounding errors.
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rounded_hull = self._roundHull(convex_hull)
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# Store the result in the cache
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self._2d_convex_hull_group_child_polygon = child_polygon
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self._2d_convex_hull_group_result = rounded_hull
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return rounded_hull
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else:
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if not self._node.getMeshData():
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return None
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mesh = self._node.getMeshData()
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world_transform = self._node.getWorldTransformation()
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# Check the cache
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if mesh is self._2d_convex_hull_mesh and world_transform == self._2d_convex_hull_mesh_world_transform:
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# Logger.log('d', 'Cache hit in _compute2DConvexHull mesh path')
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return self._2d_convex_hull_mesh_result
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vertex_data = mesh.getConvexHullTransformedVertices(world_transform)
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# Don't use data below 0.
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# TODO; We need a better check for this as this gives poor results for meshes with long edges.
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vertex_data = vertex_data[vertex_data[:,1] >= 0]
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# Round the vertex data to 1/10th of a mm, then remove all duplicate vertices
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# This is done to greatly speed up further convex hull calculations as the convex hull
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# becomes much less complex when dealing with highly detailed models.
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vertex_data = numpy.round(vertex_data, 1)
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vertex_data = vertex_data[:, [0, 2]] # Drop the Y components to project to 2D.
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# Grab the set of unique points.
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#
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# This basically finds the unique rows in the array by treating them as opaque groups of bytes
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# which are as long as the 2 float64s in each row, and giving this view to numpy.unique() to munch.
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# See http://stackoverflow.com/questions/16970982/find-unique-rows-in-numpy-array
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vertex_byte_view = numpy.ascontiguousarray(vertex_data).view(
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numpy.dtype((numpy.void, vertex_data.dtype.itemsize * vertex_data.shape[1])))
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_, idx = numpy.unique(vertex_byte_view, return_index=True)
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vertex_data = vertex_data[idx] # Select the unique rows by index.
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hull = Polygon(vertex_data)
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# First, calculate the normal convex hull around the points
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convex_hull = hull.getConvexHull()
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# Then, do a Minkowski hull with a simple 1x1 quad to outset and round the normal convex hull.
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# This is done because of rounding errors.
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rounded_hull = convex_hull.getMinkowskiHull(Polygon(numpy.array([[-0.5, -0.5], [-0.5, 0.5], [0.5, 0.5], [0.5, -0.5]], numpy.float32)))
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# Store the result in the cache
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self._2d_convex_hull_mesh = mesh
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self._2d_convex_hull_mesh_world_transform = world_transform
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self._2d_convex_hull_mesh_result = rounded_hull
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return rounded_hull
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def _getHeadAndFans(self):
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profile = Application.getInstance().getMachineManager().getWorkingProfile()
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return Polygon(numpy.array(profile.getSettingValue("machine_head_with_fans_polygon"), numpy.float32))
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def _compute2DConvexHeadFull(self):
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return self._compute2DConvexHull().getMinkowskiHull(self._getHeadAndFans())
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def _compute2DConvexHeadMin(self):
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headAndFans = self._getHeadAndFans()
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mirrored = headAndFans.mirror([0, 0], [0, 1]).mirror([0, 0], [1, 0]) # Mirror horizontally & vertically.
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head_and_fans = self._getHeadAndFans().intersectionConvexHulls(mirrored)
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# Min head hull is used for the push free
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min_head_hull = self._compute2DConvexHull().getMinkowskiHull(head_and_fans)
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return min_head_hull
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def _roundHull(self, convex_hull):
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return convex_hull.getMinkowskiHull(Polygon(numpy.array([[-0.5, -0.5], [-0.5, 0.5], [0.5, 0.5], [0.5, -0.5]], numpy.float32)))
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@ -4,6 +4,7 @@
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from UM.Job import Job
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from UM.Application import Application
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from UM.Math.Polygon import Polygon
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from UM.Logger import Logger
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import numpy
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import copy
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@ -19,6 +20,11 @@ class ConvexHullJob(Job):
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def run(self):
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if not self._node:
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return
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#################################################################
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# Node Convex Hull
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#################################################################
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## If the scene node is a group, use the hull of the children to calculate its hull.
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if self._node.callDecoration("isGroup"):
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hull = Polygon(numpy.zeros((0, 2), dtype=numpy.int32))
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@ -47,10 +53,20 @@ class ConvexHullJob(Job):
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# This is done to greatly speed up further convex hull calculations as the convex hull
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# becomes much less complex when dealing with highly detailed models.
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vertex_data = numpy.round(vertex_data, 1)
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duplicates = (vertex_data[:,0] == vertex_data[:,1]) | (vertex_data[:,1] == vertex_data[:,2]) | (vertex_data[:,0] == vertex_data[:,2])
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vertex_data = numpy.delete(vertex_data, numpy.where(duplicates), axis = 0)
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hull = Polygon(vertex_data[:, [0, 2]])
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vertex_data = vertex_data[:, [0, 2]] # Drop the Y components to project to 2D.
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# Grab the set of unique points.
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#
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# This basically finds the unique rows in the array by treating them as opaque groups of bytes
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# which are as long as the 2 float64s in each row, and giving this view to numpy.unique() to munch.
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# See http://stackoverflow.com/questions/16970982/find-unique-rows-in-numpy-array
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vertex_byte_view = numpy.ascontiguousarray(vertex_data).view(
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numpy.dtype((numpy.void, vertex_data.dtype.itemsize * vertex_data.shape[1])))
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_, idx = numpy.unique(vertex_byte_view, return_index=True)
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vertex_data = vertex_data[idx] # Select the unique rows by index.
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hull = Polygon(vertex_data)
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# First, calculate the normal convex hull around the points
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hull = hull.getConvexHull()
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@ -59,6 +75,16 @@ class ConvexHullJob(Job):
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# This is done because of rounding errors.
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hull = hull.getMinkowskiHull(Polygon(numpy.array([[-0.5, -0.5], [-0.5, 0.5], [0.5, 0.5], [0.5, -0.5]], numpy.float32)))
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#################################################################
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# Print Head Exclusion Zone
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#################################################################
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#
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# TODO
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# ConvexHullDecorator should use a memoization strategy in its getters.
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# Make MeshData immutable
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profile = Application.getInstance().getMachineManager().getWorkingProfile()
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if profile:
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if profile.getSettingValue("print_sequence") == "one_at_a_time" and not self._node.getParent().callDecoration("isGroup"):
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@ -99,3 +125,33 @@ class ConvexHullJob(Job):
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hull_node = self._node.getParent().callDecoration("getConvexHullNode")
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if hull_node:
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hull_node.setParent(None)
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try:
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Logger.log('d', 'ConvexHullJob getConvexHull:' + dumpPoly(self._node.callDecoration("getConvexHull")))
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Logger.log('d', 'ConvexHullJob new getConvexHull:' + dumpPoly(self._node.callDecoration("newGetConvexHull")))
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except Exception:
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pass
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try:
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Logger.log('d', 'ConvexHullJob getConvexHullHeadFull:' + dumpPoly(self._node.callDecoration("getConvexHullHeadFull")))
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Logger.log('d', 'ConvexHullJob new getConvexHullHeadFull:' + dumpPoly(self._node.callDecoration("newGetConvexHullHeadFull")))
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except Exception:
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pass
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try:
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Logger.log('d', 'ConvexHullJob getConvexHullHead:' + dumpPoly(self._node.callDecoration("getConvexHullHead")))
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Logger.log('d', 'ConvexHullJob new getConvexHullHead:' + dumpPoly(self._node.callDecoration("newGetConvexHullHead")))
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except Exception:
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pass
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try:
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Logger.log('d', 'ConvexHullJob getConvexHullBoundary:' + dumpPoly(self._node.callDecoration("getConvexHullBoundary")))
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Logger.log('d', 'ConvexHullJob new getConvexHullBoundary:' + dumpPoly(self._node.callDecoration("newGetConvexHullBoundary")))
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except Exception:
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pass
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def dumpPoly(poly):
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if poly is None:
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return "None"
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else:
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return repr(poly.getPoints())
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@ -8,7 +8,7 @@ from UM.Math.Vector import Vector
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from UM.Mesh.MeshBuilder import MeshBuilder # To create a mesh to display the convex hull with.
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from UM.View.GL.OpenGL import OpenGL
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from UM.Logger import spy
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class ConvexHullNode(SceneNode):
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## Convex hull node is a special type of scene node that is used to display a 2D area, to indicate the
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@ -46,6 +46,9 @@ class ConvexHullNode(SceneNode):
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if convex_hull_head:
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self._convex_hull_head_mesh = self.createHullMesh(convex_hull_head.getPoints())
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def getHull(self):
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return self._hull
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## Actually create the mesh from the hullpoints
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# /param hull_points list of xy values
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# /return meshData
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@ -62,7 +65,7 @@ class ConvexHullNode(SceneNode):
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mesh_builder.addFace(point_first, point_previous, point_new, color = self._color)
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point_previous = point_new # Prepare point_previous for the next triangle.
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return mesh_builder.getData()
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return mesh_builder.build()
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def getWatchedNode(self):
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return self._node
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@ -80,9 +83,7 @@ class ConvexHullNode(SceneNode):
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return True
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def _onNodePositionChanged(self, node):
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if node.callDecoration("getConvexHull"):
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node.callDecoration("setConvexHull", None)
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node.callDecoration("setConvexHullNode", None)
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if node.callDecoration("getConvexHull"):
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self.setParent(None) # Garbage collection should delete this node after a while.
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def _onNodeParentChanged(self, node):
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@ -278,9 +278,11 @@ class CuraApplication(QtApplication):
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count += 1
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if not scene_boundingbox:
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scene_boundingbox = copy.deepcopy(node.getBoundingBox())
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scene_boundingbox = node.getBoundingBox()
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else:
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scene_boundingbox += node.getBoundingBox()
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other_bb = node.getBoundingBox()
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if other_bb is not None:
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scene_boundingbox = scene_boundingbox + node.getBoundingBox()
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if not scene_boundingbox:
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scene_boundingbox = AxisAlignedBox.Null
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|
||||
@ -45,7 +45,7 @@ class PlatformPhysics:
|
||||
|
||||
root = self._controller.getScene().getRoot()
|
||||
for node in BreadthFirstIterator(root):
|
||||
if node is root or type(node) is not SceneNode:
|
||||
if node is root or type(node) is not SceneNode or node.getBoundingBox() is None:
|
||||
continue
|
||||
|
||||
bbox = node.getBoundingBox()
|
||||
@ -73,14 +73,9 @@ class PlatformPhysics:
|
||||
# If there is no convex hull for the node, start calculating it and continue.
|
||||
if not node.getDecorator(ConvexHullDecorator):
|
||||
node.addDecorator(ConvexHullDecorator())
|
||||
|
||||
if not node.callDecoration("getConvexHull"):
|
||||
if not node.callDecoration("getConvexHullJob"):
|
||||
job = ConvexHullJob.ConvexHullJob(node)
|
||||
job.start()
|
||||
node.callDecoration("setConvexHullJob", job)
|
||||
|
||||
elif Preferences.getInstance().getValue("physics/automatic_push_free"):
|
||||
node.callDecoration("recomputeConvexHull")
|
||||
|
||||
if Preferences.getInstance().getValue("physics/automatic_push_free"):
|
||||
# Check for collisions between convex hulls
|
||||
for other_node in BreadthFirstIterator(root):
|
||||
# Ignore root, ourselves and anything that is not a normal SceneNode.
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user