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43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
///|/ Copyright (c) Prusa Research 2022 - 2023 Pavel Mikuš @Godrak
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///|/
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///|/ PrusaSlicer is released under the terms of the AGPLv3 or higher
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///|/
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#ifndef SRC_LIBSLIC3R_JUMPPOINTSEARCH_HPP_
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#define SRC_LIBSLIC3R_JUMPPOINTSEARCH_HPP_
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#include "BoundingBox.hpp"
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#include "Polygon.hpp"
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#include "libslic3r/Layer.hpp"
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#include "libslic3r/Point.hpp"
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#include "libslic3r/Polyline.hpp"
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#include "libslic3r/libslic3r.h"
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#include <unordered_map>
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#include <unordered_set>
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namespace Slic3r {
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class JPSPathFinder
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{
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using Pixel = Point;
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std::unordered_set<Pixel, PointHash> inpassable;
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coordf_t print_z;
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BoundingBox max_search_box;
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Lines bed_shape;
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const coord_t resolution = scaled(1.5);
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Pixel pixelize(const Point &p) { return p / resolution; }
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Point unpixelize(const Pixel &p) { return p * resolution; }
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public:
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JPSPathFinder() = default;
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void init_bed_shape(const Points &bed_shape) { this->bed_shape = (to_lines(Polygon{bed_shape})); };
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void clear();
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void add_obstacles(const Lines &obstacles);
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void add_obstacles(const Layer *layer, const Point &global_origin);
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Polyline find_path(const Point &start, const Point &end);
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};
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} // namespace Slic3r
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#endif /* SRC_LIBSLIC3R_JUMPPOINTSEARCH_HPP_ */
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