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Widening improvements 2

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This commit is contained in:
tamasmeszaros 2022-11-28 11:14:24 +01:00
parent 249d2550d3
commit 87336349b1
1 changed files with 30 additions and 113 deletions
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143
src/libslic3r/SLA/SupportTreeUtils.hpp
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@ -485,7 +485,7 @@ template<class Ex, class WideningFn,
GroundConnection deepsearch_ground_connection( GroundConnection deepsearch_ground_connection(
Ex policy, Ex policy,
const SupportableMesh &sm, const SupportableMesh &sm,
const Junction &j, const Junction &source,
WideningFn &&wideningfn, WideningFn &&wideningfn,
const Vec3d &init_dir = DOWN) const Vec3d &init_dir = DOWN)
{ {
@ -494,7 +494,7 @@ GroundConnection deepsearch_ground_connection(
// should be a reasonably big number. // should be a reasonably big number.
constexpr double StopScore = 1e6; constexpr double StopScore = 1e6;
const auto sd = sm.cfg.safety_distance(j.r); const auto sd = sm.cfg.safety_distance(source.r);
const auto gndlvl = ground_level(sm); const auto gndlvl = ground_level(sm);
auto criteria = get_criteria(sm.cfg).stop_score(StopScore); auto criteria = get_criteria(sm.cfg).stop_score(StopScore);
@ -509,16 +509,16 @@ GroundConnection deepsearch_ground_connection(
auto &[plr, azm, bridge_len] = input; auto &[plr, azm, bridge_len] = input;
Vec3d n = spheric_to_dir(plr, azm); Vec3d n = spheric_to_dir(plr, azm);
Vec3d bridge_end = j.pos + bridge_len * n; Vec3d bridge_end = source.pos + bridge_len * n;
double full_len = bridge_len + bridge_end.z() - gndlvl; double full_len = bridge_len + bridge_end.z() - gndlvl;
double bridge_r = wideningfn(Ball{j.pos, j.r}, n, bridge_len); double bridge_r = wideningfn(Ball{source.pos, source.r}, n, bridge_len);
double brhit_dist = 0.; double brhit_dist = 0.;
if (bridge_len > EPSILON) { if (bridge_len > EPSILON) {
// beam_mesh_hit with a zero lenght bridge is invalid // beam_mesh_hit with a zero lenght bridge is invalid
Beam bridgebeam{Ball{j.pos, j.r}, Ball{bridge_end, bridge_r}}; Beam bridgebeam{Ball{source.pos, source.r}, Ball{bridge_end, bridge_r}};
auto brhit = beam_mesh_hit(policy, sm.emesh, bridgebeam, sd); auto brhit = beam_mesh_hit(policy, sm.emesh, bridgebeam, sd);
brhit_dist = brhit.distance(); brhit_dist = brhit.distance();
} }
@ -579,15 +579,15 @@ GroundConnection deepsearch_ground_connection(
auto &[plr, azm, bridge_len] = oresult.optimum; auto &[plr, azm, bridge_len] = oresult.optimum;
Vec3d n = spheric_to_dir(plr, azm); Vec3d n = spheric_to_dir(plr, azm);
Vec3d bridge_end = j.pos + bridge_len * n; Vec3d bridge_end = source.pos + bridge_len * n;
Vec3d gp{bridge_end.x(), bridge_end.y(), gndlvl}; Vec3d gp{bridge_end.x(), bridge_end.y(), gndlvl};
double bridge_r = wideningfn(Ball{j.pos, j.r}, n, bridge_len); double bridge_r = wideningfn(Ball{source.pos, source.r}, n, bridge_len);
double down_l = bridge_end.z() - gndlvl; double down_l = bridge_end.z() - gndlvl;
double end_radius = wideningfn(Ball{bridge_end, bridge_r}, DOWN, down_l); double end_radius = wideningfn(Ball{bridge_end, bridge_r}, DOWN, down_l);
double base_r = std::max(sm.cfg.base_radius_mm, end_radius); double base_r = std::max(sm.cfg.base_radius_mm, end_radius);
conn.path.emplace_back(j); conn.path.emplace_back(source);
if (bridge_len > EPSILON) if (bridge_len > EPSILON)
conn.path.emplace_back(Junction{bridge_end, bridge_r}); conn.path.emplace_back(Junction{bridge_end, bridge_r});
@ -601,12 +601,12 @@ GroundConnection deepsearch_ground_connection(
template<class Ex> template<class Ex>
GroundConnection deepsearch_ground_connection(Ex policy, GroundConnection deepsearch_ground_connection(Ex policy,
const SupportableMesh &sm, const SupportableMesh &sm,
const Junction &j, const Junction &source,
double end_radius, double end_radius,
const Vec3d &init_dir = DOWN) const Vec3d &init_dir = DOWN)
{ {
double gndlvl = ground_level(sm); double gndlvl = ground_level(sm);
auto wfn = [end_radius, gndlvl](Ball src, Vec3d dir, double len) { auto wfn = [end_radius, gndlvl](const Ball &src, const Vec3d &dir, double len) {
Vec3d dst = src.p + len * dir; Vec3d dst = src.p + len * dir;
double widening = end_radius - src.R; double widening = end_radius - src.R;
double zlen = dst.z() - gndlvl; double zlen = dst.z() - gndlvl;
@ -618,113 +618,30 @@ GroundConnection deepsearch_ground_connection(Ex policy,
static_assert(IsWideningFn<decltype(wfn)>, "Not a widening function"); static_assert(IsWideningFn<decltype(wfn)>, "Not a widening function");
return deepsearch_ground_connection(policy, sm, j, wfn, init_dir); return deepsearch_ground_connection(policy, sm, source, wfn, init_dir);
}
// // Score is the total lenght of the route. Feasible routes will have struct DefaultWideningModel {
// // infinite length (rays not colliding with model), thus the stop score static constexpr double WIDENING_SCALE = 0.02;
// // should be a reasonably big number. const SupportableMesh &sm;
// constexpr double StopScore = 1e6;
// const auto sd = sm.cfg.safety_distance(j.r); double operator()(const Ball &src, const Vec3d & /*dir*/, double len) {
// const auto gndlvl = ground_level(sm); static_assert(IsWideningFn<DefaultWideningModel>,
// const double widening = end_radius - j.r; "DefaultWideningModel is not a widening function");
// const double base_r = std::max(sm.cfg.base_radius_mm, end_radius);
// const double zelev_gap = sm.cfg.pillar_base_safety_distance_mm + base_r;
// auto criteria = get_criteria(sm.cfg).stop_score(StopScore); double w = WIDENING_SCALE * sm.cfg.pillar_widening_factor * len;
return src.R + w;
};
};
// Optimizer<opt::AlgNLoptMLSL> solver(criteria); template<class Ex>
// solver.seed(0); // enforce deterministic behavior GroundConnection deepsearch_ground_connection(Ex policy,
const SupportableMesh &sm,
// auto optfn = [&](const opt::Input<3> &input) { const Junction &source,
// double ret = NaNd; const Vec3d &init_dir = DOWN)
{
// // solver suggests polar, azimuth and bridge length values: return deepsearch_ground_connection(policy, sm, source,
// auto &[plr, azm, bridge_len] = input; DefaultWideningModel{sm}, init_dir);
// Vec3d n = spheric_to_dir(plr, azm);
// Vec3d bridge_end = j.pos + bridge_len * n;
// double full_len = bridge_len + bridge_end.z() - gndlvl;
// double bridge_r = j.r + widening * bridge_len / full_len;
// double brhit_dist = 0.;
// if (bridge_len > EPSILON) {
// // beam_mesh_hit with a zero lenght bridge is invalid
// Beam bridgebeam{Ball{j.pos, j.r}, Ball{bridge_end, bridge_r}};
// auto brhit = beam_mesh_hit(policy, sm.emesh, bridgebeam, sd);
// brhit_dist = brhit.distance();
// }
// if (brhit_dist < bridge_len) {
// ret = brhit_dist;
// } else {
// // check if pillar can be placed below
// auto gp = Vec3d{bridge_end.x(), bridge_end.y(), gndlvl};
// Beam gndbeam {{bridge_end, bridge_r}, {gp, end_radius}};
// auto gndhit = beam_mesh_hit(policy, sm.emesh, gndbeam, sd);
// if (std::isinf(gndhit.distance())) {
// // Ground route is free with this bridge
// if (sm.cfg.object_elevation_mm < EPSILON) {
// // Dealing with zero elevation mode, to not route pillars
// // into the gap between the optional pad and the model
// double gap = std::sqrt(sm.emesh.squared_distance(gp));
// if (gap < zelev_gap)
// ret = full_len - zelev_gap + gap;
// else // success
// ret = StopScore + EPSILON;
// } else {
// // No zero elevation, return success
// ret = StopScore + EPSILON;
// }
// } else {
// // Ground route is not free
// ret = bridge_len + gndhit.distance();
// }
// }
// return ret;
// };
// auto [plr_init, azm_init] = dir_to_spheric(init_dir);
// // Saturate the polar angle to max tilt defined in config
// plr_init = std::max(plr_init, PI - sm.cfg.bridge_slope);
// auto oresult = solver.to_max().optimize(
// optfn,
// initvals({plr_init, azm_init, 0.}), // start with a zero bridge
// bounds({ {PI - sm.cfg.bridge_slope, PI}, // bounds for polar angle
// {-PI, PI}, // bounds for azimuth
// {0., sm.cfg.max_bridge_length_mm} }) // bounds bridge length
// );
// GroundConnection conn;
// if (oresult.score >= StopScore) {
// // search was successful, extract and apply the result
// auto &[plr, azm, bridge_len] = oresult.optimum;
// Vec3d n = spheric_to_dir(plr, azm);
// Vec3d bridge_end = j.pos + bridge_len * n;
// double full_len = bridge_len + bridge_end.z() - gndlvl;
// double bridge_r = j.r + widening * bridge_len / full_len;
// Vec3d gp{bridge_end.x(), bridge_end.y(), gndlvl};
// conn.path.emplace_back(j);
// if (bridge_len > EPSILON)
// conn.path.emplace_back(Junction{bridge_end, bridge_r});
// conn.pillar_base =
// Pedestal{gp, sm.cfg.base_height_mm, base_r, end_radius};
// }
// return conn;
} }
template<class Ex> template<class Ex>