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ArcWelder bugfixes

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This commit is contained in:
Vojtech Bubnik 2023-07-17 14:18:56 +02:00
parent 9fe36fc300
commit 594e36c70a
7 changed files with 164 additions and 63 deletions
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3
src/libslic3r/GCode.cpp
View File

@ -2457,6 +2457,7 @@ std::string GCodeGenerator::extrude_loop(const ExtrusionLoop &loop_src, const GC
gcode += m_writer.set_print_acceleration(fast_round_up<unsigned int>(m_config.default_acceleration.value));
if (m_wipe.enabled()) {
// Wipe will hide the seam.
m_wipe.set_path(std::move(smooth_path), false);
} else if (loop_src.paths.back().role().is_external_perimeter() && m_layer != nullptr && m_config.perimeters.value > 1) {
// Only wipe inside if the wipe along the perimeter is disabled.
@ -2848,7 +2849,7 @@ std::string GCodeGenerator::_extrude(
if (! emit_radius) {
// Calculate quantized IJ circle center offset.
Vec2d center_raw = Geometry::ArcWelder::arc_center(prev.cast<double>(), p.cast<double>(), double(radius), it->ccw()) - prev;
ij = Vec2d{ GCodeFormatter::quantize_xyzf(center_raw.x()), GCodeFormatter::quantize_xyzf(center_raw.y()) };
ij = GCodeFormatter::quantize(center_raw);
}
double angle = Geometry::ArcWelder::arc_angle(prev.cast<double>(), p.cast<double>(), double(radius));
const double line_length = angle * std::abs(radius);

4
src/libslic3r/GCode/GCodeWriter.hpp
View File

@ -158,6 +158,10 @@ public:
static double quantize(double v, size_t ndigits) { return std::round(v * pow_10[ndigits]) * pow_10_inv[ndigits]; }
static double quantize_xyzf(double v) { return quantize(v, XYZF_EXPORT_DIGITS); }
static double quantize_e(double v) { return quantize(v, E_EXPORT_DIGITS); }
static Vec2d quantize(const Vec2d &pt)
{ return { quantize(pt.x(), XYZF_EXPORT_DIGITS), quantize(pt.y(), XYZF_EXPORT_DIGITS) }; }
static Vec3d quantize(const Vec3d &pt)
{ return { quantize(pt.x(), XYZF_EXPORT_DIGITS), quantize(pt.y(), XYZF_EXPORT_DIGITS), quantize(pt.z(), XYZF_EXPORT_DIGITS) }; }
void emit_axis(const char axis, const double v, size_t digits);

55
src/libslic3r/GCode/Wipe.cpp
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@ -92,44 +92,66 @@ std::string Wipe::wipe(GCodeGenerator &gcodegen, bool toolchange)
}
};
const double xy_to_e = this->calc_xy_to_e_ratio(gcodegen.writer().config, extruder.id());
auto wipe_linear = [&gcode, &gcodegen, &retract_length, xy_to_e](const Vec2d &prev, Vec2d &p) {
double segment_length = (p - prev).norm();
// Quantize E axis as it is to be
auto wipe_linear = [&gcode, &gcodegen, &retract_length, xy_to_e](const Vec2d &prev_quantized, Vec2d &p) {
Vec2d p_quantized = GCodeFormatter::quantize(p);
if (p_quantized == prev_quantized) {
p = p_quantized;
return false;
}
double segment_length = (p_quantized - prev_quantized).norm();
// Quantize E axis as it is to be extruded as a whole segment.
double dE = GCodeFormatter::quantize_e(xy_to_e * segment_length);
bool done = false;
if (dE > retract_length - EPSILON) {
if (dE > retract_length + EPSILON)
// Shorten the segment.
p = gcodegen.point_to_gcode_quantized(prev + (p - prev) * (retract_length / dE));
p = GCodeFormatter::quantize(Vec2d(prev_quantized + (p - prev_quantized) * (retract_length / dE)));
else
p = p_quantized;
dE = retract_length;
done = true;
}
} else
p = p_quantized;
gcode += gcodegen.writer().extrude_to_xy(p, -dE, wipe_retract_comment);
retract_length -= dE;
return done;
};
const bool emit_radius = gcodegen.config().arc_fitting == ArcFittingType::EmitRadius;
auto wipe_arc = [&gcode, &gcodegen, &retract_length, xy_to_e, emit_radius](const Vec2d &prev, Vec2d &p, double radius_in, const bool ccw) {
auto wipe_arc = [&gcode, &gcodegen, &retract_length, xy_to_e, emit_radius](
const Vec2d &prev_quantized, Vec2d &p, double radius_in, const bool ccw) {
Vec2d p_quantized = GCodeFormatter::quantize(p);
if (p_quantized == prev_quantized) {
p = p_quantized;
return false;
}
// Only quantize radius if emitting it directly into G-code. Otherwise use the exact radius for calculating the IJ values.
double radius = emit_radius ? GCodeFormatter::quantize_xyzf(radius_in) : radius_in;
Vec2d center = Geometry::ArcWelder::arc_center(prev.cast<double>(), p.cast<double>(), double(radius), ccw);
float angle = Geometry::ArcWelder::arc_angle(prev.cast<double>(), p.cast<double>(), double(radius));
Vec2d center = Geometry::ArcWelder::arc_center(prev_quantized.cast<double>(), p_quantized.cast<double>(), double(radius), ccw);
float angle = Geometry::ArcWelder::arc_angle(prev_quantized.cast<double>(), p_quantized.cast<double>(), double(radius));
double segment_length = angle * std::abs(radius);
double dE = GCodeFormatter::quantize_e(xy_to_e * segment_length);
bool done = false;
if (dE > retract_length - EPSILON) {
if (dE > retract_length + EPSILON)
// Shorten the segment.
p = gcodegen.point_to_gcode_quantized(Point(prev).rotated((ccw ? angle : -angle) * (retract_length / dE), center.cast<coord_t>()));
if (dE > retract_length + EPSILON) {
// Shorten the segment. Recalculate the arc from the unquantized end coordinate.
center = Geometry::ArcWelder::arc_center(prev_quantized.cast<double>(), p.cast<double>(), double(radius), ccw);
angle = Geometry::ArcWelder::arc_angle(prev_quantized.cast<double>(), p.cast<double>(), double(radius));
segment_length = angle * std::abs(radius);
dE = xy_to_e * segment_length;
p = GCodeFormatter::quantize(
Vec2d(center + Eigen::Rotation2D((ccw ? angle : -angle) * (retract_length / dE)) * (prev_quantized - center)));
} else
p = p_quantized;
dE = retract_length;
done = true;
}
} else
p = p_quantized;
if (emit_radius) {
gcode += gcodegen.writer().extrude_to_xy_G2G3R(p, radius, ccw, -dE, wipe_retract_comment);
} else {
// Calculate quantized IJ circle center offset.
Vec2d ij{ GCodeFormatter::quantize_xyzf(center.x() - prev.x()), GCodeFormatter::quantize_xyzf(center.y() - prev.y()) };
gcode += gcodegen.writer().extrude_to_xy_G2G3IJ(p, ij, ccw, -dE, wipe_retract_comment);
gcode += gcodegen.writer().extrude_to_xy_G2G3IJ(
p, GCodeFormatter::quantize(Vec2d(center - prev_quantized)), ccw, -dE, wipe_retract_comment);
}
retract_length -= dE;
return done;
@ -137,7 +159,7 @@ std::string Wipe::wipe(GCodeGenerator &gcodegen, bool toolchange)
// Start with the current position, which may be different from the wipe path start in case of loop clipping.
Vec2d prev = gcodegen.point_to_gcode_quantized(gcodegen.last_pos());
auto it = this->path().begin();
Vec2d p = gcodegen.point_to_gcode_quantized(it->point + m_offset);
Vec2d p = gcodegen.point_to_gcode(it->point + m_offset);
++ it;
bool done = false;
if (p != prev) {
@ -148,7 +170,7 @@ std::string Wipe::wipe(GCodeGenerator &gcodegen, bool toolchange)
prev = p;
auto end = this->path().end();
for (; it != end && ! done; ++ it) {
p = gcodegen.point_to_gcode_quantized(it->point + m_offset);
p = gcodegen.point_to_gcode(it->point + m_offset);
if (p != prev) {
start_wipe();
if (it->linear() ?
@ -161,6 +183,7 @@ std::string Wipe::wipe(GCodeGenerator &gcodegen, bool toolchange)
}
if (wiped) {
// add tag for processor
assert(p == GCodeFormatter::quantize(p));
gcode += ";" + GCodeProcessor::reserved_tag(GCodeProcessor::ETags::Wipe_End) + "\n";
gcodegen.set_last_pos(gcodegen.gcode_to_point(p));
}

148
src/libslic3r/Geometry/ArcWelder.cpp
View File

@ -77,12 +77,12 @@ static std::optional<Circle> try_create_circle(const Point &p1, const Point &p2,
// Returns a closest point on the segment.
// Returns false if the closest point is not inside the segment, but at its boundary.
static bool foot_pt_on_segment(const Point &p1, const Point &p2, const Point &c, Point &out)
static bool foot_pt_on_segment(const Point &p1, const Point &p2, const Point &pt, Point &out)
{
Vec2i64 v21 = (p2 - p1).cast<int64_t>();
int64_t l2 = v21.squaredNorm();
if (l2 > int64_t(SCALED_EPSILON)) {
if (int64_t t = (c - p1).cast<int64_t>().dot(v21);
if (int64_t t = (pt - p1).cast<int64_t>().dot(v21);
t >= int64_t(SCALED_EPSILON) && t < l2 - int64_t(SCALED_EPSILON)) {
out = p1 + ((double(t) / double(l2)) * v21.cast<double>()).cast<coord_t>();
return true;
@ -104,12 +104,12 @@ static inline bool circle_approximation_sufficient(const Circle &circle, const P
std::abs(distance_from_center - circle.radius) > tolerance)
return false;
for (auto it = std::next(begin); std::next(it) != end; ++ it) {
for (auto it = std::next(begin); it != end; ++ it) {
if (double distance_from_center = (*it - circle.center).cast<double>().norm();
std::abs(distance_from_center - circle.radius) > tolerance)
return false;
Point closest_point;
if (foot_pt_on_segment(*it, *std::next(it), circle.center, closest_point)) {
if (foot_pt_on_segment(*std::prev(it), *it, circle.center, closest_point)) {
if (double distance_from_center = (closest_point - circle.center).cast<double>().norm();
std::abs(distance_from_center - circle.radius) > tolerance)
return false;
@ -184,10 +184,10 @@ static std::optional<Circle> try_create_circle(const Points::const_iterator begi
// ported from ArcWelderLib/ArcWelder/segmented/shape.h class "arc"
class Arc {
public:
Point start_point{ 0, 0 };
Point end_point{ 0, 0 };
Point start_point;
Point end_point;
Point center;
double radius { 0 };
double radius;
Orientation direction { Orientation::Unknown };
};
@ -196,64 +196,84 @@ static inline int sign(const int64_t i)
return i > 0 ? 1 : i < 0 ? -1 : 0;
}
static inline std::optional<Arc> try_create_arc_impl(
const Circle &circle,
// Return orientation of a polyline with regard to the center.
// Successive points are expected to take less than a PI angle step.
Orientation arc_orientation(
const Point &center,
const Points::const_iterator begin,
const Points::const_iterator end,
double path_tolerance_percent)
const Points::const_iterator end)
{
assert(end - begin >= 3);
// Assumption: Two successive points of a single segment span an angle smaller than PI.
Vec2i64 vstart = (*begin - circle.center).cast<int64_t>();
Vec2i64 vstart = (*begin - center).cast<int64_t>();
Vec2i64 vprev = vstart;
int arc_dir = 0;
for (auto it = std::next(begin); it != end; ++ it) {
Vec2i64 v = (*it - circle.center).cast<int64_t>();
Vec2i64 v = (*it - center).cast<int64_t>();
int dir = sign(cross2(vprev, v));
if (dir == 0) {
// Ignore radial segments.
} else if (arc_dir * dir < 0) {
// The path turns back and overextrudes. Such path is likely invalid, but the arc interpolation should not cover it.
// The path turns back and overextrudes. Such path is likely invalid, but the arc interpolation should
// rather maintain such an invalid path instead of covering it up.
// Don't replace such a path with an arc.
return {};
} else {
// Success, moving in the same direction.
// Success, either establishing the direction for the first time, or moving in the same direction as the last time.
arc_dir = dir;
vprev = v;
}
}
if (arc_dir == 0)
// All points were radial, this should not happen.
return arc_dir == 0 ?
// All points are radial wrt. the center, this is unexpected.
Orientation::Unknown :
// Arc is valid, either CCW or CW.
arc_dir > 0 ? Orientation::CCW : Orientation::CW;
}
static inline std::optional<Arc> try_create_arc_impl(
const Circle &circle,
const Points::const_iterator begin,
const Points::const_iterator end,
const double tolerance,
const double path_tolerance_percent)
{
assert(end - begin >= 3);
// Assumption: Two successive points of a single segment span an angle smaller than PI.
Orientation orientation = arc_orientation(circle.center, begin, end);
if (orientation == Orientation::Unknown)
return {};
Vec2i64 vend = (*std::prev(end) - circle.center).cast<int64_t>();
double angle = atan2(double(cross2(vstart, vend)), double(vstart.dot(vend)));
if (arc_dir > 0) {
if (angle < 0)
angle += 2. * M_PI;
} else {
if (angle > 0)
angle -= 2. * M_PI;
}
Vec2i64 vstart = (*begin - circle.center).cast<int64_t>();
Vec2i64 vend = (*std::prev(end) - circle.center).cast<int64_t>();
double angle = atan2(double(cross2(vstart, vend)), double(vstart.dot(vend)));
if (orientation == Orientation::CW)
angle *= -1.;
if (angle < 0)
angle += 2. * M_PI;
assert(angle >= 0. && angle < 2. * M_PI + EPSILON);
// Check the length against the original length.
// This can trigger simply due to the differing path lengths
// but also could indicate that the vector calculation above
// got wrong direction
const double arc_length = std::abs(circle.radius * angle);
const double arc_length = circle.radius * angle;
const double approximate_length = length(begin, end);
assert(approximate_length > 0);
const double arc_length_difference_relative = (arc_length - approximate_length) / approximate_length;
return std::fabs(arc_length_difference_relative) >= path_tolerance_percent ?
std::make_optional<Arc>() :
std::make_optional<Arc>(Arc{
if (std::fabs(arc_length_difference_relative) >= path_tolerance_percent) {
return {};
} else {
assert(circle_approximation_sufficient(circle, begin, end, tolerance + SCALED_EPSILON));
return std::make_optional<Arc>(Arc{
*begin,
*std::prev(end),
circle.center,
circle.radius,
arc_dir > 0 ? Orientation::CCW : Orientation::CW
angle > M_PI ? - circle.radius : circle.radius,
orientation
});
}
}
static inline std::optional<Arc> try_create_arc(
@ -266,7 +286,7 @@ static inline std::optional<Arc> try_create_arc(
std::optional<Circle> circle = try_create_circle(begin, end, max_radius, tolerance);
if (! circle)
return {};
return try_create_arc_impl(*circle, begin, end, path_tolerance_percent);
return try_create_arc_impl(*circle, begin, end, tolerance, path_tolerance_percent);
}
float arc_angle(const Vec2f &start_pos, const Vec2f &end_pos, Vec2f &center_pos, bool is_ccw)
@ -328,6 +348,7 @@ Path fit_path(const Points &src, double tolerance, double fit_circle_percent_tol
ArcWelder::default_scaled_max_radius,
tolerance, fit_circle_percent_tolerance);
this_arc) {
assert(this_arc->direction != Orientation::Unknown);
arc = this_arc;
end = next_end;
} else
@ -335,8 +356,12 @@ Path fit_path(const Points &src, double tolerance, double fit_circle_percent_tol
}
if (arc) {
// If there is a trailing polyline, decimate it first before saving a new arc.
if (out.size() - begin_pl_idx > 2)
if (out.size() - begin_pl_idx > 2) {
// Decimating linear segmens only.
assert(std::all_of(out.begin() + begin_pl_idx + 1, out.end(), [](const Segment &seg) { return seg.linear(); }));
out.erase(douglas_peucker_in_place(out.begin() + begin_pl_idx, out.end(), tolerance), out.end());
assert(out.back().linear());
}
// Save the index of an end of the new circle segment, which may become the first point of a possible future polyline.
begin_pl_idx = int(out.size());
// This will be the next point to try to add.
@ -344,7 +369,37 @@ Path fit_path(const Points &src, double tolerance, double fit_circle_percent_tol
// Add the new arc.
assert(*begin == arc->start_point);
assert(*std::prev(it) == arc->end_point);
assert(out.back().point == arc->start_point);
out.push_back({ arc->end_point, float(arc->radius), arc->direction });
#if 0
// Verify that all the source points are at tolerance distance from the interpolated path.
{
const Segment &seg_start = *std::prev(std::prev(out.end()));
const Segment &seg_end = out.back();
const Vec2d center = arc_center(seg_start.point.cast<double>(), seg_end.point.cast<double>(), double(seg_end.radius), seg_end.ccw());
assert(seg_start.point == *begin);
assert(seg_end.point == *std::prev(end));
assert(arc_orientation(center.cast<coord_t>(), begin, end) == arc->direction);
for (auto it = std::next(begin); it != end; ++ it) {
Point ptstart = *std::prev(it);
Point ptend = *it;
Point closest_point;
if (foot_pt_on_segment(ptstart, ptend, center.cast<coord_t>(), closest_point)) {
double distance_from_center = (closest_point.cast<double>() - center).norm();
assert(std::abs(distance_from_center - std::abs(seg_end.radius)) < tolerance + SCALED_EPSILON);
}
Vec2d v = (ptend - ptstart).cast<double>();
double len = v.norm();
auto num_segments = std::min<size_t>(10, ceil(2. * len / fit_circle_percent_tolerance));
for (size_t i = 0; i < num_segments; ++ i) {
Point p = ptstart + (v * (double(i) / double(num_segments))).cast<coord_t>();
assert(i == 0 || inside_arc_wedge(seg_start.point.cast<double>(), seg_end.point.cast<double>(), center, seg_end.radius > 0, seg_end.ccw(), p.cast<double>()));
double d2 = sqr((p.cast<double>() - center).norm() - std::abs(seg_end.radius));
assert(d2 < sqr(tolerance + SCALED_EPSILON));
}
}
}
#endif
} else {
// Arc is not valid, append a linear segment.
out.push_back({ *it ++ });
@ -357,9 +412,18 @@ Path fit_path(const Points &src, double tolerance, double fit_circle_percent_tol
#if 0
// Verify that all the source points are at tolerance distance from the interpolated path.
for (const Point &p : src) {
PathSegmentProjection proj = point_to_path_projection(out, p);
assert(proj.distance2 < sqr(tolerance + SCALED_EPSILON));
for (auto it = std::next(src.begin()); it != src.end(); ++ it) {
Point start = *std::prev(it);
Point end = *it;
Vec2d v = (end - start).cast<double>();
double len = v.norm();
auto num_segments = std::min<size_t>(10, ceil(2. * len / fit_circle_percent_tolerance));
for (size_t i = 0; i <= num_segments; ++ i) {
Point p = start + (v * (double(i) / double(num_segments))).cast<coord_t>();
PathSegmentProjection proj = point_to_path_projection(out, p);
assert(proj.valid());
assert(proj.distance2 < sqr(tolerance + SCALED_EPSILON));
}
}
#endif
@ -369,14 +433,14 @@ Path fit_path(const Points &src, double tolerance, double fit_circle_percent_tol
void reverse(Path &path)
{
if (path.size() > 1) {
std::reverse(path.begin(), path.end());
auto prev = path.begin();
for (auto it = std::next(prev); it != path.end(); ++ it) {
it->radius = prev->radius;
it->orientation = prev->orientation == Orientation::CCW ? Orientation::CW : Orientation::CCW;
prev->radius = it->radius;
prev->orientation = it->orientation == Orientation::CCW ? Orientation::CW : Orientation::CCW;
prev = it;
}
path.front().radius = 0;
path.back().radius = 0;
std::reverse(path.begin(), path.end());
}
}

9
src/libslic3r/Geometry/ArcWelder.hpp
View File

@ -153,6 +153,15 @@ enum class Orientation : unsigned char {
CW,
};
// Returns orientation of a polyline with regard to the center.
// Successive points are expected to take less than a PI angle step.
// Returns Orientation::Unknown if the orientation with regard to the center
// is not monotonous.
Orientation arc_orientation(
const Point &center,
const Points::const_iterator begin,
const Points::const_iterator end);
// Single segment of a smooth path.
struct Segment
{

2
src/libslic3r/Point.cpp
View File

@ -52,7 +52,7 @@ void Point::rotate(double angle, const Point &center)
double c = ::cos(angle);
auto d = cur - center.cast<double>();
this->x() = fast_round_up<coord_t>(center.x() + c * d.x() - s * d.y());
this->y() = fast_round_up<coord_t>(center.y() + c * d.y() + s * d.x());
this->y() = fast_round_up<coord_t>(center.y() + s * d.x() + c * d.y());
}
bool has_duplicate_points(Points &&pts)

6
tests/libslic3r/test_arc_welder.cpp
View File

@ -142,7 +142,7 @@ TEST_CASE("arc fitting", "[ArcWelder]") {
REQUIRE(path.front().point == p1);
REQUIRE(path.front().radius == 0.f);
REQUIRE(path.back().point == p2);
REQUIRE(path.back().radius == Approx(radius));
REQUIRE(path.back().radius == Approx(r));
REQUIRE(path.back().ccw() == ccw);
};
THEN("90 degrees arc, CCW is fitted") {
@ -179,10 +179,10 @@ TEST_CASE("arc fitting", "[ArcWelder]") {
REQUIRE(path.front().point == p1);
REQUIRE(path.front().radius == 0.f);
REQUIRE(path[1].point == p2);
REQUIRE(path[1].radius == Approx(radius));
REQUIRE(path[1].radius == Approx(r));
REQUIRE(path[1].ccw() == ccw);
REQUIRE(path.back().point == p3);
REQUIRE(path.back().radius == Approx(radius));
REQUIRE(path.back().radius == Approx(- r));
REQUIRE(path.back().ccw() == ! ccw);
};
THEN("90 degrees arches, CCW are fitted") {