mirror of
https://git.mirrors.martin98.com/https://github.com/Ultimaker/Cura
synced 2025-04-28 23:04:34 +08:00
411 lines
18 KiB
Python
411 lines
18 KiB
Python
# Copyright (c) 2016 Ultimaker B.V.
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# Cura is released under the terms of the LGPLv3 or higher.
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from PyQt5.QtCore import QTimer
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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.Scene.SceneNodeDecorator import SceneNodeDecorator
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from UM.Settings.ContainerRegistry import ContainerRegistry
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from cura.Settings.ExtruderManager import ExtruderManager
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from cura.Scene import ConvexHullNode
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import numpy
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from typing import TYPE_CHECKING, Any, Optional
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if TYPE_CHECKING:
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from UM.Scene.SceneNode import SceneNode
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from cura.Settings.GlobalStack import GlobalStack
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from UM.Mesh.MeshData import MeshData
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from UM.Math.Matrix import Matrix
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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) -> None:
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super().__init__()
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self._convex_hull_node = None # type: Optional["SceneNode"]
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self._init2DConvexHullCache()
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self._global_stack = None # type: Optional[GlobalStack]
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# Make sure the timer is created on the main thread
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self._recompute_convex_hull_timer = None # type: Optional[QTimer]
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from cura.CuraApplication import CuraApplication
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if CuraApplication.getInstance() is not None:
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CuraApplication.getInstance().callLater(self.createRecomputeConvexHullTimer)
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self._raft_thickness = 0.0
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self._build_volume = CuraApplication.getInstance().getBuildVolume()
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self._build_volume.raftThicknessChanged.connect(self._onChanged)
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CuraApplication.getInstance().globalContainerStackChanged.connect(self._onGlobalStackChanged)
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CuraApplication.getInstance().getController().toolOperationStarted.connect(self._onChanged)
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CuraApplication.getInstance().getController().toolOperationStopped.connect(self._onChanged)
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self._onGlobalStackChanged()
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def createRecomputeConvexHullTimer(self) -> None:
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self._recompute_convex_hull_timer = QTimer()
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self._recompute_convex_hull_timer.setInterval(200)
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self._recompute_convex_hull_timer.setSingleShot(True)
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self._recompute_convex_hull_timer.timeout.connect(self.recomputeConvexHull)
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def setNode(self, node: "SceneNode") -> None:
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previous_node = self._node
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# Disconnect from previous node signals
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if previous_node is not None and node is not previous_node:
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previous_node.boundingBoxChanged.disconnect(self._onChanged)
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super().setNode(node)
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node.boundingBoxChanged.connect(self._onChanged)
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per_object_stack = node.callDecoration("getStack")
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if per_object_stack:
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per_object_stack.propertyChanged.connect(self._onSettingValueChanged)
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self._onChanged()
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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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return ConvexHullDecorator()
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## Get the unmodified 2D projected convex hull of the node (if any)
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def getConvexHull(self) -> Optional[Polygon]:
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if self._node is None:
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return None
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if self._node.callDecoration("isNonPrintingMesh"):
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return None
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hull = self._compute2DConvexHull()
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if self._global_stack and self._node is not None and hull is not None:
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# Parent can be None if node is just loaded.
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if self._global_stack.getProperty("print_sequence", "value") == "one_at_a_time" and not self.hasGroupAsParent(self._node):
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hull = hull.getMinkowskiHull(Polygon(numpy.array(self._global_stack.getProperty("machine_head_polygon", "value"), numpy.float32)))
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hull = self._add2DAdhesionMargin(hull)
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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) -> Optional[Polygon]:
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if self._node is None:
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return None
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return self._compute2DConvexHeadFull()
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@staticmethod
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def hasGroupAsParent(node: "SceneNode") -> bool:
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parent = node.getParent()
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if parent is None:
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return False
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return bool(parent.callDecoration("isGroup"))
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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) -> Optional[Polygon]:
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if self._node is None:
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return None
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if self._node.callDecoration("isNonPrintingMesh"):
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return None
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if self._global_stack:
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if self._global_stack.getProperty("print_sequence", "value") == "one_at_a_time" and not self.hasGroupAsParent(self._node):
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head_with_fans = self._compute2DConvexHeadMin()
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if head_with_fans is None:
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return None
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head_with_fans_with_adhesion_margin = self._add2DAdhesionMargin(head_with_fans)
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return head_with_fans_with_adhesion_margin
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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) -> Optional[Polygon]:
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if self._node is None:
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return None
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if self._node.callDecoration("isNonPrintingMesh"):
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return None
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if self._global_stack:
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if self._global_stack.getProperty("print_sequence", "value") == "one_at_a_time" and not self.hasGroupAsParent(self._node):
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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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## The same as recomputeConvexHull, but using a timer if it was set.
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def recomputeConvexHullDelayed(self) -> None:
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if self._recompute_convex_hull_timer is not None:
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self._recompute_convex_hull_timer.start()
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else:
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self.recomputeConvexHull()
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def recomputeConvexHull(self) -> None:
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controller = Application.getInstance().getController()
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root = controller.getScene().getRoot()
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if self._node is None or controller.isToolOperationActive() or not self.__isDescendant(root, self._node):
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# If the tool operation is still active, we need to compute the convex hull later after the controller is
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# no longer active.
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if controller.isToolOperationActive():
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self.recomputeConvexHullDelayed()
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return
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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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return
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convex_hull = self.getConvexHull()
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if self._convex_hull_node:
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self._convex_hull_node.setParent(None)
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hull_node = ConvexHullNode.ConvexHullNode(self._node, convex_hull, self._raft_thickness, root)
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self._convex_hull_node = hull_node
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def _onSettingValueChanged(self, key: str, property_name: str) -> None:
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if property_name != "value": # Not the value that was changed.
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return
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if key in self._affected_settings:
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self._onChanged()
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if key in self._influencing_settings:
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self._init2DConvexHullCache() # Invalidate the cache.
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self._onChanged()
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def _init2DConvexHullCache(self) -> None:
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# Cache for the group code path in _compute2DConvexHull()
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self._2d_convex_hull_group_child_polygon = None # type: Optional[Polygon]
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self._2d_convex_hull_group_result = None # type: Optional[Polygon]
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# Cache for the mesh code path in _compute2DConvexHull()
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self._2d_convex_hull_mesh = None # type: Optional[MeshData]
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self._2d_convex_hull_mesh_world_transform = None # type: Optional[Matrix]
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self._2d_convex_hull_mesh_result = None # type: Optional[Polygon]
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def _compute2DConvexHull(self) -> Optional[Polygon]:
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if self._node is None:
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return None
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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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try:
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points = numpy.append(points, child_hull.getPoints(), axis = 0)
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except ValueError:
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pass
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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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return self._2d_convex_hull_group_result
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convex_hull = child_polygon.getConvexHull() #First calculate the normal convex hull around the points.
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offset_hull = self._offsetHull(convex_hull) #Then apply the offset from the settings.
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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 = offset_hull
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return offset_hull
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else:
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offset_hull = Polygon([])
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mesh = self._node.getMeshData()
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if mesh is None:
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return Polygon([]) # Node has no mesh data, so just return an empty Polygon.
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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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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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# Do not throw away vertices: the convex hull may be too small and objects can collide.
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# vertex_data = vertex_data[vertex_data[:,1] >= -0.01]
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if len(vertex_data) >= 4: # type: ignore # mypy and numpy don't play along well just yet.
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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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if len(vertex_data) >= 3:
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convex_hull = hull.getConvexHull()
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offset_hull = self._offsetHull(convex_hull)
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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 = offset_hull
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return offset_hull
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def _getHeadAndFans(self) -> Polygon:
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if self._global_stack:
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return Polygon(numpy.array(self._global_stack.getHeadAndFansCoordinates(), numpy.float32))
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return Polygon()
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def _compute2DConvexHeadFull(self) -> Optional[Polygon]:
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convex_hull = self._compute2DConvexHull()
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if convex_hull:
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return convex_hull.getMinkowskiHull(self._getHeadAndFans())
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return None
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def _compute2DConvexHeadMin(self) -> Optional[Polygon]:
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head_and_fans = self._getHeadAndFans()
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mirrored = head_and_fans.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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convex_hull = self._compute2DConvexHull()
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if convex_hull:
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return convex_hull.getMinkowskiHull(head_and_fans)
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return None
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## Compensate given 2D polygon with adhesion margin
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# \return 2D polygon with added margin
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def _add2DAdhesionMargin(self, poly: Polygon) -> Polygon:
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if not self._global_stack:
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return Polygon()
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# Compensate for raft/skirt/brim
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# Add extra margin depending on adhesion type
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adhesion_type = self._global_stack.getProperty("adhesion_type", "value")
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max_length_available = 0.5 * min(
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self._getSettingProperty("machine_width", "value"),
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self._getSettingProperty("machine_depth", "value")
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)
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if adhesion_type == "raft":
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extra_margin = min(max_length_available, max(0, self._getSettingProperty("raft_margin", "value")))
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elif adhesion_type == "brim":
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extra_margin = min(max_length_available, max(0, self._getSettingProperty("brim_line_count", "value") * self._getSettingProperty("skirt_brim_line_width", "value")))
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elif adhesion_type == "none":
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extra_margin = 0
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elif adhesion_type == "skirt":
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extra_margin = min(max_length_available, max(
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0, self._getSettingProperty("skirt_gap", "value") +
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self._getSettingProperty("skirt_line_count", "value") * self._getSettingProperty("skirt_brim_line_width", "value")))
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else:
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raise Exception("Unknown bed adhesion type. Did you forget to update the convex hull calculations for your new bed adhesion type?")
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# Adjust head_and_fans with extra margin
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if extra_margin > 0:
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extra_margin_polygon = Polygon.approximatedCircle(extra_margin)
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poly = poly.getMinkowskiHull(extra_margin_polygon)
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return poly
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## Offset the convex hull with settings that influence the collision area.
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#
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# \param convex_hull Polygon of the original convex hull.
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# \return New Polygon instance that is offset with everything that
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# influences the collision area.
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def _offsetHull(self, convex_hull: Polygon) -> Polygon:
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horizontal_expansion = max(
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self._getSettingProperty("xy_offset", "value"),
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self._getSettingProperty("xy_offset_layer_0", "value")
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)
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mold_width = 0
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if self._getSettingProperty("mold_enabled", "value"):
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mold_width = self._getSettingProperty("mold_width", "value")
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hull_offset = horizontal_expansion + mold_width
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if hull_offset > 0: #TODO: Implement Minkowski subtraction for if the offset < 0.
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expansion_polygon = Polygon(numpy.array([
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[-hull_offset, -hull_offset],
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[-hull_offset, hull_offset],
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[hull_offset, hull_offset],
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[hull_offset, -hull_offset]
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], numpy.float32))
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return convex_hull.getMinkowskiHull(expansion_polygon)
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else:
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return convex_hull
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def _onChanged(self, *args) -> None:
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self._raft_thickness = self._build_volume.getRaftThickness()
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if not args or args[0] == self._node:
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self.recomputeConvexHullDelayed()
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def _onGlobalStackChanged(self) -> None:
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if self._global_stack:
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self._global_stack.propertyChanged.disconnect(self._onSettingValueChanged)
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self._global_stack.containersChanged.disconnect(self._onChanged)
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extruders = ExtruderManager.getInstance().getActiveExtruderStacks()
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for extruder in extruders:
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extruder.propertyChanged.disconnect(self._onSettingValueChanged)
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self._global_stack = Application.getInstance().getGlobalContainerStack()
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if self._global_stack:
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self._global_stack.propertyChanged.connect(self._onSettingValueChanged)
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self._global_stack.containersChanged.connect(self._onChanged)
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extruders = ExtruderManager.getInstance().getActiveExtruderStacks()
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for extruder in extruders:
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extruder.propertyChanged.connect(self._onSettingValueChanged)
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self._onChanged()
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## Private convenience function to get a setting from the correct extruder (as defined by limit_to_extruder property).
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def _getSettingProperty(self, setting_key: str, prop: str = "value") -> Any:
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if self._global_stack is None or self._node is None:
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return None
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per_mesh_stack = self._node.callDecoration("getStack")
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if per_mesh_stack:
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return per_mesh_stack.getProperty(setting_key, prop)
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extruder_index = self._global_stack.getProperty(setting_key, "limit_to_extruder")
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if extruder_index == "-1":
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# No limit_to_extruder
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extruder_stack_id = self._node.callDecoration("getActiveExtruder")
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if not extruder_stack_id:
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# Decoration doesn't exist
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extruder_stack_id = ExtruderManager.getInstance().extruderIds["0"]
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extruder_stack = ContainerRegistry.getInstance().findContainerStacks(id = extruder_stack_id)[0]
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return extruder_stack.getProperty(setting_key, prop)
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else:
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# Limit_to_extruder is set. The global stack handles this then
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return self._global_stack.getProperty(setting_key, prop)
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## Returns True if node is a descendant or the same as the root node.
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def __isDescendant(self, root: "SceneNode", node: Optional["SceneNode"]) -> bool:
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if node is None:
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return False
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if root is node:
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return True
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return self.__isDescendant(root, node.getParent())
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_affected_settings = [
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"adhesion_type", "raft_margin", "print_sequence",
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"skirt_gap", "skirt_line_count", "skirt_brim_line_width", "skirt_distance", "brim_line_count"]
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## Settings that change the convex hull.
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#
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# If these settings change, the convex hull should be recalculated.
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_influencing_settings = {"xy_offset", "xy_offset_layer_0", "mold_enabled", "mold_width", "anti_overhang_mesh", "infill_mesh", "cutting_mesh"}
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