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Restore path simplification for "Avoid crossing perimeters". Algorithm is now faster as we're simplifying input geometry. #3940

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This commit is contained in:
Alessandro Ranellucci 2017-05-10 17:14:21 +02:00
parent b12453cf59
commit 893cab7523
1 changed files with 16 additions and 12 deletions
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28
xs/src/libslic3r/MotionPlanner.cpp
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@ -13,17 +13,17 @@ MotionPlanner::MotionPlanner(const ExPolygons &islands)
: initialized(false) : initialized(false)
{ {
ExPolygons expp; ExPolygons expp;
for (ExPolygons::const_iterator island = islands.begin(); island != islands.end(); ++island) for (const ExPolygon &island : islands)
island->simplify(SCALED_EPSILON, &expp); island.simplify(MP_INNER_MARGIN/10, &expp);
for (ExPolygons::const_iterator island = expp.begin(); island != expp.end(); ++island) for (const ExPolygon &island : expp)
this->islands.push_back(MotionPlannerEnv(*island)); this->islands.push_back(MotionPlannerEnv(island));
} }
MotionPlanner::~MotionPlanner() MotionPlanner::~MotionPlanner()
{ {
for (std::vector<MotionPlannerGraph*>::iterator graph = this->graphs.begin(); graph != this->graphs.end(); ++graph) for (MotionPlannerGraph* graph : this->graphs)
delete *graph; delete graph;
} }
size_t size_t
@ -40,20 +40,20 @@ MotionPlanner::initialize()
// loop through islands in order to create inner expolygons and collect their contours // loop through islands in order to create inner expolygons and collect their contours
Polygons outer_holes; Polygons outer_holes;
for (std::vector<MotionPlannerEnv>::iterator island = this->islands.begin(); island != this->islands.end(); ++island) { for (MotionPlannerEnv island : this->islands) {
// generate the internal env boundaries by shrinking the island // generate the internal env boundaries by shrinking the island
// we'll use these inner rings for motion planning (endpoints of the Voronoi-based // we'll use these inner rings for motion planning (endpoints of the Voronoi-based
// graph, visibility check) in order to avoid moving too close to the boundaries // graph, visibility check) in order to avoid moving too close to the boundaries
island->env = offset_ex(island->island, -MP_INNER_MARGIN); island.env = offset_ex(island.island, -MP_INNER_MARGIN);
// island contours are holes of our external environment // island contours are holes of our external environment
outer_holes.push_back(island->island.contour); outer_holes.push_back(island.island.contour);
} }
// generate outer contour as bounding box of everything // generate outer contour as bounding box of everything
BoundingBox bb; BoundingBox bb;
for (Polygons::const_iterator contour = outer_holes.begin(); contour != outer_holes.end(); ++contour) for (const Polygon contour : outer_holes)
bb.merge(contour->bounding_box()); bb.merge(contour.bounding_box());
// grow outer contour // grow outer contour
Polygons contour = offset(bb.polygon(), +MP_OUTER_MARGIN*2); Polygons contour = offset(bb.polygon(), +MP_OUTER_MARGIN*2);
@ -166,12 +166,16 @@ MotionPlanner::shortest_path(const Point &from, const Point &to)
} }
} }
// Perform some quick simplification (simplify_by_visibility() would make this
// unnecessary, but this is much faster)
polyline.simplify(MP_INNER_MARGIN/10);
// remove unnecessary vertices // remove unnecessary vertices
// Note: this is computationally intensive and does not look very necessary // Note: this is computationally intensive and does not look very necessary
// now that we prune the endpoints with the logic above, // now that we prune the endpoints with the logic above,
// so we comment it for now until a good test case arises // so we comment it for now until a good test case arises
//polyline.simplify_by_visibility(grown_env); //polyline.simplify_by_visibility(grown_env);
/* /*
SVG svg("shortest_path.svg"); SVG svg("shortest_path.svg");
svg.draw(grown_env.expolygons); svg.draw(grown_env.expolygons);