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521 lines
22 KiB
C++
521 lines
22 KiB
C++
#include "SeamPlacer.hpp"
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#include "libslic3r/ExtrusionEntity.hpp"
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#include "libslic3r/Print.hpp"
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#include "libslic3r/BoundingBox.hpp"
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#include "libslic3r/EdgeGrid.hpp"
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#include "libslic3r/ClipperUtils.hpp"
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namespace Slic3r {
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static float extrudate_overlap_penalty(float nozzle_r, float weight_zero, float overlap_distance)
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{
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// The extrudate is not fully supported by the lower layer. Fit a polynomial penalty curve.
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// Solved by sympy package:
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/*
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from sympy import *
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(x,a,b,c,d,r,z)=symbols('x a b c d r z')
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p = a + b*x + c*x*x + d*x*x*x
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p2 = p.subs(solve([p.subs(x, -r), p.diff(x).subs(x, -r), p.diff(x,x).subs(x, -r), p.subs(x, 0)-z], [a, b, c, d]))
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from sympy.plotting import plot
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plot(p2.subs(r,0.2).subs(z,1.), (x, -1, 3), adaptive=False, nb_of_points=400)
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*/
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if (overlap_distance < - nozzle_r) {
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// The extrudate is fully supported by the lower layer. This is the ideal case, therefore zero penalty.
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return 0.f;
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} else {
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float x = overlap_distance / nozzle_r;
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float x2 = x * x;
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float x3 = x2 * x;
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return weight_zero * (1.f + 3.f * x + 3.f * x2 + x3);
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}
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}
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// Return a value in <0, 1> of a cubic B-spline kernel centered around zero.
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// The B-spline is re-scaled so it has value 1 at zero.
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static inline float bspline_kernel(float x)
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{
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x = std::abs(x);
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if (x < 1.f) {
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return 1.f - (3.f / 2.f) * x * x + (3.f / 4.f) * x * x * x;
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}
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else if (x < 2.f) {
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x -= 1.f;
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float x2 = x * x;
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float x3 = x2 * x;
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return (1.f / 4.f) - (3.f / 4.f) * x + (3.f / 4.f) * x2 - (1.f / 4.f) * x3;
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}
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else
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return 0;
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}
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static Points::const_iterator project_point_to_polygon_and_insert(Polygon &polygon, const Point &pt, double eps)
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{
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assert(polygon.points.size() >= 2);
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if (polygon.points.size() <= 1)
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if (polygon.points.size() == 1)
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return polygon.points.begin();
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Point pt_min;
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double d_min = std::numeric_limits<double>::max();
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size_t i_min = size_t(-1);
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for (size_t i = 0; i < polygon.points.size(); ++ i) {
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size_t j = i + 1;
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if (j == polygon.points.size())
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j = 0;
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const Point &p1 = polygon.points[i];
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const Point &p2 = polygon.points[j];
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const Slic3r::Point v_seg = p2 - p1;
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const Slic3r::Point v_pt = pt - p1;
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const int64_t l2_seg = int64_t(v_seg(0)) * int64_t(v_seg(0)) + int64_t(v_seg(1)) * int64_t(v_seg(1));
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int64_t t_pt = int64_t(v_seg(0)) * int64_t(v_pt(0)) + int64_t(v_seg(1)) * int64_t(v_pt(1));
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if (t_pt < 0) {
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// Closest to p1.
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double dabs = sqrt(int64_t(v_pt(0)) * int64_t(v_pt(0)) + int64_t(v_pt(1)) * int64_t(v_pt(1)));
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if (dabs < d_min) {
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d_min = dabs;
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i_min = i;
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pt_min = p1;
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}
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}
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else if (t_pt > l2_seg) {
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// Closest to p2. Then p2 is the starting point of another segment, which shall be discovered in the next step.
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continue;
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} else {
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// Closest to the segment.
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assert(t_pt >= 0 && t_pt <= l2_seg);
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int64_t d_seg = int64_t(v_seg(1)) * int64_t(v_pt(0)) - int64_t(v_seg(0)) * int64_t(v_pt(1));
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double d = double(d_seg) / sqrt(double(l2_seg));
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double dabs = std::abs(d);
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if (dabs < d_min) {
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d_min = dabs;
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i_min = i;
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// Evaluate the foot point.
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pt_min = p1;
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double linv = double(d_seg) / double(l2_seg);
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pt_min(0) = pt(0) - coord_t(floor(double(v_seg(1)) * linv + 0.5));
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pt_min(1) = pt(1) + coord_t(floor(double(v_seg(0)) * linv + 0.5));
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assert(Line(p1, p2).distance_to(pt_min) < scale_(1e-5));
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}
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}
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}
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assert(i_min != size_t(-1));
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if ((pt_min - polygon.points[i_min]).cast<double>().norm() > eps) {
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// Insert a new point on the segment i_min, i_min+1.
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return polygon.points.insert(polygon.points.begin() + (i_min + 1), pt_min);
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}
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return polygon.points.begin() + i_min;
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}
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static std::vector<float> polygon_angles_at_vertices(const Polygon &polygon, const std::vector<float> &lengths, float min_arm_length)
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{
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assert(polygon.points.size() + 1 == lengths.size());
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if (min_arm_length > 0.25f * lengths.back())
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min_arm_length = 0.25f * lengths.back();
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// Find the initial prev / next point span.
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size_t idx_prev = polygon.points.size();
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size_t idx_curr = 0;
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size_t idx_next = 1;
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while (idx_prev > idx_curr && lengths.back() - lengths[idx_prev] < min_arm_length)
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-- idx_prev;
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while (idx_next < idx_prev && lengths[idx_next] < min_arm_length)
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++ idx_next;
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std::vector<float> angles(polygon.points.size(), 0.f);
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for (; idx_curr < polygon.points.size(); ++ idx_curr) {
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// Move idx_prev up until the distance between idx_prev and idx_curr is lower than min_arm_length.
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if (idx_prev >= idx_curr) {
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while (idx_prev < polygon.points.size() && lengths.back() - lengths[idx_prev] + lengths[idx_curr] > min_arm_length)
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++ idx_prev;
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if (idx_prev == polygon.points.size())
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idx_prev = 0;
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}
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while (idx_prev < idx_curr && lengths[idx_curr] - lengths[idx_prev] > min_arm_length)
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++ idx_prev;
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// Move idx_prev one step back.
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if (idx_prev == 0)
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idx_prev = polygon.points.size() - 1;
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else
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-- idx_prev;
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// Move idx_next up until the distance between idx_curr and idx_next is greater than min_arm_length.
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if (idx_curr <= idx_next) {
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while (idx_next < polygon.points.size() && lengths[idx_next] - lengths[idx_curr] < min_arm_length)
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++ idx_next;
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if (idx_next == polygon.points.size())
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idx_next = 0;
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}
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while (idx_next < idx_curr && lengths.back() - lengths[idx_curr] + lengths[idx_next] < min_arm_length)
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++ idx_next;
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// Calculate angle between idx_prev, idx_curr, idx_next.
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const Point &p0 = polygon.points[idx_prev];
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const Point &p1 = polygon.points[idx_curr];
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const Point &p2 = polygon.points[idx_next];
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const Point v1 = p1 - p0;
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const Point v2 = p2 - p1;
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int64_t dot = int64_t(v1(0))*int64_t(v2(0)) + int64_t(v1(1))*int64_t(v2(1));
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int64_t cross = int64_t(v1(0))*int64_t(v2(1)) - int64_t(v1(1))*int64_t(v2(0));
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float angle = float(atan2(double(cross), double(dot)));
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angles[idx_curr] = angle;
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}
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return angles;
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}
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void SeamPlacer::init(const Print& print)
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{
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m_enforcers.clear();
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m_blockers.clear();
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m_last_seam_position.clear();
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for (const PrintObject* po : print.objects()) {
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po->project_and_append_custom_facets(true, EnforcerBlockerType::ENFORCER, m_enforcers);
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po->project_and_append_custom_facets(true, EnforcerBlockerType::BLOCKER, m_blockers);
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}
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const std::vector<double>& nozzle_dmrs = print.config().nozzle_diameter.values;
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float max_nozzle_dmr = *std::max_element(nozzle_dmrs.begin(), nozzle_dmrs.end());
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for (ExPolygons& explgs : m_enforcers)
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explgs = Slic3r::offset_ex(explgs, scale_(max_nozzle_dmr));
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for (ExPolygons& explgs : m_blockers)
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explgs = Slic3r::offset_ex(explgs, scale_(max_nozzle_dmr));
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}
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Point SeamPlacer::get_seam(const size_t layer_idx, const SeamPosition seam_position,
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const ExtrusionLoop& loop, Point last_pos, coordf_t nozzle_dmr,
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const PrintObject* po, bool was_clockwise, const EdgeGrid::Grid* lower_layer_edge_grid)
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{
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if (seam_position == spNearest || seam_position == spAligned || seam_position == spRear) {
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Polygon polygon = loop.polygon();
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const coord_t nozzle_r = coord_t(scale_(0.5 * nozzle_dmr) + 0.5);
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if (this->is_custom(layer_idx)) {
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// Seam enf/blockers can begin and end in between the original vertices.
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// Let add extra points in between and update the leghths.
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polygon.densify(scale_(0.2f));
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}
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// Retrieve the last start position for this object.
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float last_pos_weight = 1.f;
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if (seam_position == spAligned) {
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// Seam is aligned to the seam at the preceding layer.
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if (po != nullptr && m_last_seam_position.count(po) > 0) {
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last_pos = m_last_seam_position[po];
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last_pos_weight = 1.f;
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}
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}
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else if (seam_position == spRear) {
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// Object is centered around (0,0) in its current coordinate system.
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last_pos.x() = 0;
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last_pos.y() += coord_t(3. * po->bounding_box().radius());
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last_pos_weight = 5.f;
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}
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// Insert a projection of last_pos into the polygon.
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size_t last_pos_proj_idx;
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{
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auto it = project_point_to_polygon_and_insert(polygon, last_pos, 0.1 * nozzle_r);
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last_pos_proj_idx = it - polygon.points.begin();
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}
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// Parametrize the polygon by its length.
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std::vector<float> lengths = polygon.parameter_by_length();
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// For each polygon point, store a penalty.
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// First calculate the angles, store them as penalties. The angles are caluculated over a minimum arm length of nozzle_r.
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std::vector<float> penalties = polygon_angles_at_vertices(polygon, lengths, float(nozzle_r));
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// No penalty for reflex points, slight penalty for convex points, high penalty for flat surfaces.
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const float penaltyConvexVertex = 1.f;
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const float penaltyFlatSurface = 5.f;
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const float penaltyOverhangHalf = 10.f;
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// Penalty for visible seams.
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for (size_t i = 0; i < polygon.points.size(); ++ i) {
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float ccwAngle = penalties[i];
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if (was_clockwise)
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ccwAngle = - ccwAngle;
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float penalty = 0;
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if (ccwAngle <- float(0.6 * PI))
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// Sharp reflex vertex. We love that, it hides the seam perfectly.
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penalty = 0.f;
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else if (ccwAngle > float(0.6 * PI))
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// Seams on sharp convex vertices are more visible than on reflex vertices.
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penalty = penaltyConvexVertex;
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else if (ccwAngle < 0.f) {
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// Interpolate penalty between maximum and zero.
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penalty = penaltyFlatSurface * bspline_kernel(ccwAngle * float(PI * 2. / 3.));
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} else {
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assert(ccwAngle >= 0.f);
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// Interpolate penalty between maximum and the penalty for a convex vertex.
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penalty = penaltyConvexVertex + (penaltyFlatSurface - penaltyConvexVertex) * bspline_kernel(ccwAngle * float(PI * 2. / 3.));
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}
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// Give a negative penalty for points close to the last point or the prefered seam location.
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float dist_to_last_pos_proj = (i < last_pos_proj_idx) ?
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std::min(lengths[last_pos_proj_idx] - lengths[i], lengths.back() - lengths[last_pos_proj_idx] + lengths[i]) :
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std::min(lengths[i] - lengths[last_pos_proj_idx], lengths.back() - lengths[i] + lengths[last_pos_proj_idx]);
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float dist_max = 0.1f * lengths.back(); // 5.f * nozzle_dmr
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penalty -= last_pos_weight * bspline_kernel(dist_to_last_pos_proj / dist_max);
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penalties[i] = std::max(0.f, penalty);
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}
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// Penalty for overhangs.
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if (lower_layer_edge_grid) {
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// Use the edge grid distance field structure over the lower layer to calculate overhangs.
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coord_t nozzle_r = coord_t(std::floor(scale_(0.5 * nozzle_dmr) + 0.5));
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coord_t search_r = coord_t(std::floor(scale_(0.8 * nozzle_dmr) + 0.5));
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for (size_t i = 0; i < polygon.points.size(); ++ i) {
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const Point &p = polygon.points[i];
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coordf_t dist;
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// Signed distance is positive outside the object, negative inside the object.
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// The point is considered at an overhang, if it is more than nozzle radius
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// outside of the lower layer contour.
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[[maybe_unused]] bool found = lower_layer_edge_grid->signed_distance(p, search_r, dist);
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// If the approximate Signed Distance Field was initialized over lower_layer_edge_grid,
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// then the signed distnace shall always be known.
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assert(found);
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penalties[i] += extrudate_overlap_penalty(float(nozzle_r), penaltyOverhangHalf, float(dist));
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}
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}
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// Penalty according to custom seam selection. This one is huge compared to
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// the others so that points outside enforcers/inside blockers never win.
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this->penalize_polygon(polygon, penalties, lengths, layer_idx);
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// Find a point with a minimum penalty.
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size_t idx_min = std::min_element(penalties.begin(), penalties.end()) - penalties.begin();
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// For all (aligned, nearest, rear) seams:
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{
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// Very likely the weight of idx_min is very close to the weight of last_pos_proj_idx.
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// In that case use last_pos_proj_idx instead.
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float penalty_aligned = penalties[last_pos_proj_idx];
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float penalty_min = penalties[idx_min];
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float penalty_diff_abs = std::abs(penalty_min - penalty_aligned);
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float penalty_max = std::max(penalty_min, penalty_aligned);
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float penalty_diff_rel = (penalty_max == 0.f) ? 0.f : penalty_diff_abs / penalty_max;
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// printf("Align seams, penalty aligned: %f, min: %f, diff abs: %f, diff rel: %f\n", penalty_aligned, penalty_min, penalty_diff_abs, penalty_diff_rel);
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if (std::abs(penalty_diff_rel) < 0.05) {
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// Penalty of the aligned point is very close to the minimum penalty.
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// Align the seams as accurately as possible.
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idx_min = last_pos_proj_idx;
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}
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m_last_seam_position[po] = polygon.points[idx_min];
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}
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// Export the contour into a SVG file.
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#if 0
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{
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static int iRun = 0;
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SVG svg(debug_out_path("GCode_extrude_loop-%d.svg", iRun ++));
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if (m_layer->lower_layer != NULL)
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svg.draw(m_layer->lower_layer->slices);
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for (size_t i = 0; i < loop.paths.size(); ++ i)
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svg.draw(loop.paths[i].as_polyline(), "red");
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Polylines polylines;
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for (size_t i = 0; i < loop.paths.size(); ++ i)
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polylines.push_back(loop.paths[i].as_polyline());
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Slic3r::Polygons polygons;
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coordf_t nozzle_dmr = EXTRUDER_CONFIG(nozzle_diameter);
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coord_t delta = scale_(0.5*nozzle_dmr);
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Slic3r::offset(polylines, &polygons, delta);
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// for (size_t i = 0; i < polygons.size(); ++ i) svg.draw((Polyline)polygons[i], "blue");
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svg.draw(last_pos, "green", 3);
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svg.draw(polygon.points[idx_min], "yellow", 3);
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svg.Close();
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}
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#endif
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return polygon.points[idx_min];
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} else { // spRandom
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if (loop.loop_role() == elrContourInternalPerimeter) {
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// This loop does not contain any other loop. Set a random position.
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// The other loops will get a seam close to the random point chosen
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// on the inner most contour.
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//FIXME This works correctly for inner contours first only.
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//FIXME Better parametrize the loop by its length.
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Polygon polygon = loop.polygon();
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Point centroid = polygon.centroid();
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last_pos = Point(polygon.bounding_box().max(0), centroid(1));
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last_pos.rotate(fmod((float)rand()/16.0, 2.0*PI), centroid);
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}
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return last_pos;
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}
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}
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void SeamPlacer::get_indices(size_t layer_id,
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const Polygon& polygon,
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std::vector<size_t>& enforcers_idxs,
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std::vector<size_t>& blockers_idxs) const
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{
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enforcers_idxs.clear();
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blockers_idxs.clear();
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// FIXME: This is quadratic and it should be improved, maybe by building
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// an AABB tree (or at least utilize bounding boxes).
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for (size_t i=0; i<polygon.points.size(); ++i) {
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if (! m_enforcers.empty()) {
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assert(layer_id < m_enforcers.size());
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for (const ExPolygon& explg : m_enforcers[layer_id]) {
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if (explg.contains(polygon.points[i]))
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enforcers_idxs.push_back(i);
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}
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}
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if (! m_blockers.empty()) {
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assert(layer_id < m_blockers.size());
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for (const ExPolygon& explg : m_blockers[layer_id]) {
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if (explg.contains(polygon.points[i]))
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blockers_idxs.push_back(i);
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}
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}
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}
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}
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// Go through the polygon, identify points inside support enforcers and return
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// indices of points in the middle of each enforcer (measured along the contour).
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static std::vector<size_t> find_enforcer_centers(const Polygon& polygon,
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const std::vector<float>& lengths,
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const std::vector<size_t>& enforcers_idxs)
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{
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std::vector<size_t> out;
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assert(polygon.points.size()+1 == lengths.size());
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assert(std::is_sorted(enforcers_idxs.begin(), enforcers_idxs.end()));
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if (polygon.size() < 2 || enforcers_idxs.empty())
|
|
return out;
|
|
|
|
auto get_center_idx = [&polygon, &lengths](size_t start_idx, size_t end_idx) -> size_t {
|
|
assert(end_idx >= start_idx);
|
|
if (start_idx == end_idx)
|
|
return start_idx;
|
|
float t_c = lengths[start_idx] + 0.5f * (lengths[end_idx] - lengths[start_idx]);
|
|
auto it = std::lower_bound(lengths.begin() + start_idx, lengths.begin() + end_idx, t_c);
|
|
int ret = it - lengths.begin();
|
|
return ret;
|
|
};
|
|
|
|
int last_enforcer_start_idx = enforcers_idxs.front();
|
|
bool last_pt_in_list = enforcers_idxs.back() == polygon.points.size() - 1;
|
|
|
|
for (size_t i=0; i<enforcers_idxs.size()-1; ++i) {
|
|
if ((i == enforcers_idxs.size() - 1)
|
|
|| enforcers_idxs[i+1] != enforcers_idxs[i] + 1) {
|
|
// i is last point of current enforcer
|
|
out.push_back(get_center_idx(last_enforcer_start_idx, enforcers_idxs[i]));
|
|
last_enforcer_start_idx = enforcers_idxs[i+1];
|
|
}
|
|
}
|
|
|
|
if (last_pt_in_list) {
|
|
// last point is an enforcer - not yet accounted for.
|
|
if (enforcers_idxs.front() != 0) {
|
|
size_t center_idx = get_center_idx(last_enforcer_start_idx, enforcers_idxs.back());
|
|
out.push_back(center_idx);
|
|
} else {
|
|
// Wrap-around. Update first center already found.
|
|
if (out.empty()) {
|
|
// Probably an enforcer around the whole contour. Return nothing.
|
|
return out;
|
|
}
|
|
|
|
// find last point of the enforcer at the beginning:
|
|
size_t idx = 0;
|
|
while (enforcers_idxs[idx]+1 == enforcers_idxs[idx+1])
|
|
++idx;
|
|
|
|
float t_s = lengths[last_enforcer_start_idx];
|
|
float t_e = lengths[idx];
|
|
float half_dist = 0.5f * (t_e + lengths.back() - t_s);
|
|
float t_c = (half_dist > t_e) ? t_s + half_dist : t_e - half_dist;
|
|
|
|
auto it = std::lower_bound(lengths.begin(), lengths.end(), t_c);
|
|
out[0] = it - lengths.begin();
|
|
if (out[0] == lengths.size() - 1)
|
|
--out[0];
|
|
assert(out[0] < lengths.size() - 1);
|
|
}
|
|
}
|
|
return out;
|
|
}
|
|
|
|
|
|
|
|
void SeamPlacer::penalize_polygon(const Polygon& polygon,
|
|
std::vector<float>& penalties,
|
|
const std::vector<float>& lengths,
|
|
int layer_id) const
|
|
{
|
|
std::vector<size_t> enforcers_idxs;
|
|
std::vector<size_t> blockers_idxs;
|
|
this->get_indices(layer_id, polygon, enforcers_idxs, blockers_idxs);
|
|
|
|
for (size_t i : enforcers_idxs) {
|
|
assert(i < penalties.size());
|
|
penalties[i] -= float(ENFORCER_BLOCKER_PENALTY);
|
|
}
|
|
for (size_t i : blockers_idxs) {
|
|
assert(i < penalties.size());
|
|
penalties[i] += float(ENFORCER_BLOCKER_PENALTY);
|
|
}
|
|
std::vector<size_t> enf_centers = find_enforcer_centers(polygon, lengths, enforcers_idxs);
|
|
for (size_t idx : enf_centers) {
|
|
assert(idx < penalties.size());
|
|
penalties[idx] -= 1000.f;
|
|
}
|
|
|
|
// //////////////////////
|
|
// std::ostringstream os;
|
|
// os << std::setw(3) << std::setfill('0') << layer_id;
|
|
// int a = scale_(20.);
|
|
// SVG svg("custom_seam" + os.str() + ".svg", BoundingBox(Point(-a, -a), Point(a, a)));
|
|
// /*if (! m_enforcers.empty())
|
|
// svg.draw(m_enforcers[layer_id], "blue");
|
|
// if (! m_blockers.empty())
|
|
// svg.draw(m_blockers[layer_id], "red");*/
|
|
|
|
// size_t min_idx = std::min_element(penalties.begin(), penalties.end()) - penalties.begin();
|
|
|
|
// //svg.draw(polygon.points[idx_min], "red", 6e5);
|
|
// for (size_t i=0; i<polygon.points.size(); ++i) {
|
|
// std::string fill;
|
|
// coord_t size = 0;
|
|
// if (min_idx == i) {
|
|
// fill = "yellow";
|
|
// size = 5e5;
|
|
// } else {
|
|
// fill = (std::find(enforcers_idxs.begin(), enforcers_idxs.end(), i) != enforcers_idxs.end() ? "green" : "black");
|
|
// if (std::find(enf_centers.begin(), enf_centers.end(), i) != enf_centers.end()) {
|
|
// size = 5e5;
|
|
// fill = "blue";
|
|
// }
|
|
// }
|
|
// if (i != 0)
|
|
// svg.draw(polygon.points[i], fill, size);
|
|
// else
|
|
// svg.draw(polygon.points[i], "red", 5e5);
|
|
// }
|
|
// ////////////////////
|
|
|
|
}
|
|
|
|
|
|
}
|