1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
|
# Copyright (c) 2016 Ultimaker B.V.
# Cura is released under the terms of the LGPLv3 or higher.
from PyQt5.QtCore import QTimer
from UM.Application import Application
from UM.Math.Polygon import Polygon
from UM.Scene.SceneNodeDecorator import SceneNodeDecorator
from UM.Settings.ContainerRegistry import ContainerRegistry
from cura.Settings.ExtruderManager import ExtruderManager
from cura.Scene import ConvexHullNode
import numpy
from typing import TYPE_CHECKING, Any, Optional
if TYPE_CHECKING:
from UM.Scene.SceneNode import SceneNode
from cura.Settings.GlobalStack import GlobalStack
from UM.Mesh.MeshData import MeshData
from UM.Math.Matrix import Matrix
## The convex hull decorator is a scene node decorator that adds the convex hull functionality to a scene node.
# If a scene node has a convex hull decorator, it will have a shadow in which other objects can not be printed.
class ConvexHullDecorator(SceneNodeDecorator):
def __init__(self) -> None:
super().__init__()
self._convex_hull_node = None # type: Optional["SceneNode"]
self._init2DConvexHullCache()
self._global_stack = None # type: Optional[GlobalStack]
# Make sure the timer is created on the main thread
self._recompute_convex_hull_timer = None # type: Optional[QTimer]
from cura.CuraApplication import CuraApplication
if CuraApplication.getInstance() is not None:
CuraApplication.getInstance().callLater(self.createRecomputeConvexHullTimer)
self._raft_thickness = 0.0
self._build_volume = CuraApplication.getInstance().getBuildVolume()
self._build_volume.raftThicknessChanged.connect(self._onChanged)
CuraApplication.getInstance().globalContainerStackChanged.connect(self._onGlobalStackChanged)
CuraApplication.getInstance().getController().toolOperationStarted.connect(self._onChanged)
CuraApplication.getInstance().getController().toolOperationStopped.connect(self._onChanged)
self._onGlobalStackChanged()
def createRecomputeConvexHullTimer(self) -> None:
self._recompute_convex_hull_timer = QTimer()
self._recompute_convex_hull_timer.setInterval(200)
self._recompute_convex_hull_timer.setSingleShot(True)
self._recompute_convex_hull_timer.timeout.connect(self.recomputeConvexHull)
def setNode(self, node: "SceneNode") -> None:
previous_node = self._node
# Disconnect from previous node signals
if previous_node is not None and node is not previous_node:
previous_node.boundingBoxChanged.disconnect(self._onChanged)
super().setNode(node)
node.boundingBoxChanged.connect(self._onChanged)
per_object_stack = node.callDecoration("getStack")
if per_object_stack:
per_object_stack.propertyChanged.connect(self._onSettingValueChanged)
self._onChanged()
## Force that a new (empty) object is created upon copy.
def __deepcopy__(self, memo):
return ConvexHullDecorator()
## The polygon representing the 2D adhesion area.
# If no adhesion is used, the regular convex hull is returned
def getAdhesionArea(self) -> Optional[Polygon]:
if self._node is None:
return None
hull = self._compute2DConvexHull()
if hull is None:
return None
return self._add2DAdhesionMargin(hull)
## Get the unmodified 2D projected convex hull of the node (if any)
# In case of all-at-once, this includes adhesion and head+fans clearance
def getConvexHull(self) -> Optional[Polygon]:
if self._node is None:
return None
if self._node.callDecoration("isNonPrintingMesh"):
return None
# Parent can be None if node is just loaded.
if self._is_singular_one_at_a_time_node():
hull = self.getConvexHullHeadFull()
hull = self._add2DAdhesionMargin(hull)
return hull
return self._compute2DConvexHull()
## For one at the time this is the convex hull of the node with the full head size
# In case of printing all at once this is None.
def getConvexHullHeadFull(self) -> Optional[Polygon]:
if self._node is None:
return None
if self._is_singular_one_at_a_time_node():
return self._compute2DConvexHeadFull()
return None
@staticmethod
def hasGroupAsParent(node: "SceneNode") -> bool:
parent = node.getParent()
if parent is None:
return False
return bool(parent.callDecoration("isGroup"))
## Get convex hull of the object + head size
# In case of printing all at once this is None.
# For one at the time this is area with intersection of mirrored head
def getConvexHullHead(self) -> Optional[Polygon]:
if self._node is None:
return None
if self._node.callDecoration("isNonPrintingMesh"):
return None
if self._is_singular_one_at_a_time_node():
head_with_fans = self._compute2DConvexHeadMin()
if head_with_fans is None:
return None
head_with_fans_with_adhesion_margin = self._add2DAdhesionMargin(head_with_fans)
return head_with_fans_with_adhesion_margin
return None
## Get convex hull of the node
# In case of printing all at once this is the same as the convex hull.
# For one at the time this is the area without the head.
def getConvexHullBoundary(self) -> Optional[Polygon]:
if self._node is None:
return None
if self._node.callDecoration("isNonPrintingMesh"):
return None
if self._is_singular_one_at_a_time_node():
# Printing one at a time and it's not an object in a group
return self._compute2DConvexHull()
return None
## The same as recomputeConvexHull, but using a timer if it was set.
def recomputeConvexHullDelayed(self) -> None:
if self._recompute_convex_hull_timer is not None:
self._recompute_convex_hull_timer.start()
else:
self.recomputeConvexHull()
def recomputeConvexHull(self) -> None:
controller = Application.getInstance().getController()
root = controller.getScene().getRoot()
if self._node is None or controller.isToolOperationActive() or not self.__isDescendant(root, self._node):
# If the tool operation is still active, we need to compute the convex hull later after the controller is
# no longer active.
if controller.isToolOperationActive():
self.recomputeConvexHullDelayed()
return
if self._convex_hull_node:
self._convex_hull_node.setParent(None)
self._convex_hull_node = None
return
if self._is_singular_one_at_a_time_node():
# In one-at-a-time mode, every printed object gets it's own adhesion
printing_area = self.getAdhesionArea()
else:
printing_area = self.getConvexHull()
if self._convex_hull_node:
self._convex_hull_node.setParent(None)
hull_node = ConvexHullNode.ConvexHullNode(self._node, printing_area, self._raft_thickness, root)
self._convex_hull_node = hull_node
def _onSettingValueChanged(self, key: str, property_name: str) -> None:
if property_name != "value": # Not the value that was changed.
return
if key in self._affected_settings:
self._onChanged()
if key in self._influencing_settings:
self._init2DConvexHullCache() # Invalidate the cache.
self._onChanged()
def _init2DConvexHullCache(self) -> None:
# Cache for the group code path in _compute2DConvexHull()
self._2d_convex_hull_group_child_polygon = None # type: Optional[Polygon]
self._2d_convex_hull_group_result = None # type: Optional[Polygon]
# Cache for the mesh code path in _compute2DConvexHull()
self._2d_convex_hull_mesh = None # type: Optional[MeshData]
self._2d_convex_hull_mesh_world_transform = None # type: Optional[Matrix]
self._2d_convex_hull_mesh_result = None # type: Optional[Polygon]
def _compute2DConvexHull(self) -> Optional[Polygon]:
if self._node is None:
return None
if self._node.callDecoration("isGroup"):
points = numpy.zeros((0, 2), dtype=numpy.int32)
for child in self._node.getChildren():
child_hull = child.callDecoration("_compute2DConvexHull")
if child_hull:
try:
points = numpy.append(points, child_hull.getPoints(), axis = 0)
except ValueError:
pass
if points.size < 3:
return None
child_polygon = Polygon(points)
# Check the cache
if child_polygon == self._2d_convex_hull_group_child_polygon:
return self._2d_convex_hull_group_result
convex_hull = child_polygon.getConvexHull() #First calculate the normal convex hull around the points.
offset_hull = self._offsetHull(convex_hull) #Then apply the offset from the settings.
# Store the result in the cache
self._2d_convex_hull_group_child_polygon = child_polygon
self._2d_convex_hull_group_result = offset_hull
return offset_hull
else:
offset_hull = Polygon([])
mesh = self._node.getMeshData()
if mesh is None:
return Polygon([]) # Node has no mesh data, so just return an empty Polygon.
world_transform = self._node.getWorldTransformation()
# Check the cache
if mesh is self._2d_convex_hull_mesh and world_transform == self._2d_convex_hull_mesh_world_transform:
return self._2d_convex_hull_mesh_result
vertex_data = mesh.getConvexHullTransformedVertices(world_transform)
# Don't use data below 0.
# TODO; We need a better check for this as this gives poor results for meshes with long edges.
# Do not throw away vertices: the convex hull may be too small and objects can collide.
# vertex_data = vertex_data[vertex_data[:,1] >= -0.01]
if len(vertex_data) >= 4: # type: ignore # mypy and numpy don't play along well just yet.
# Round the vertex data to 1/10th of a mm, then remove all duplicate vertices
# This is done to greatly speed up further convex hull calculations as the convex hull
# becomes much less complex when dealing with highly detailed models.
vertex_data = numpy.round(vertex_data, 1)
vertex_data = vertex_data[:, [0, 2]] # Drop the Y components to project to 2D.
# Grab the set of unique points.
#
# This basically finds the unique rows in the array by treating them as opaque groups of bytes
# which are as long as the 2 float64s in each row, and giving this view to numpy.unique() to munch.
# See http://stackoverflow.com/questions/16970982/find-unique-rows-in-numpy-array
vertex_byte_view = numpy.ascontiguousarray(vertex_data).view(
numpy.dtype((numpy.void, vertex_data.dtype.itemsize * vertex_data.shape[1])))
_, idx = numpy.unique(vertex_byte_view, return_index = True)
vertex_data = vertex_data[idx] # Select the unique rows by index.
hull = Polygon(vertex_data)
if len(vertex_data) >= 3:
convex_hull = hull.getConvexHull()
offset_hull = self._offsetHull(convex_hull)
# Store the result in the cache
self._2d_convex_hull_mesh = mesh
self._2d_convex_hull_mesh_world_transform = world_transform
self._2d_convex_hull_mesh_result = offset_hull
return offset_hull
def _getHeadAndFans(self) -> Polygon:
if not self._global_stack:
return Polygon()
polygon = Polygon(numpy.array(self._global_stack.getHeadAndFansCoordinates(), numpy.float32))
offset_x = self._getSettingProperty("machine_nozzle_offset_x", "value")
offset_y = self._getSettingProperty("machine_nozzle_offset_y", "value")
return polygon.translate(-offset_x, -offset_y)
def _compute2DConvexHeadFull(self) -> Optional[Polygon]:
convex_hull = self._compute2DConvexHull()
if convex_hull:
return convex_hull.getMinkowskiHull(self._getHeadAndFans())
return None
def _compute2DConvexHeadMin(self) -> Optional[Polygon]:
head_and_fans = self._getHeadAndFans()
mirrored = head_and_fans.mirror([0, 0], [0, 1]).mirror([0, 0], [1, 0]) # Mirror horizontally & vertically.
head_and_fans = self._getHeadAndFans().intersectionConvexHulls(mirrored)
# Min head hull is used for the push free
convex_hull = self._compute2DConvexHull()
if convex_hull:
return convex_hull.getMinkowskiHull(head_and_fans)
return None
## Compensate given 2D polygon with adhesion margin
# \return 2D polygon with added margin
def _add2DAdhesionMargin(self, poly: Polygon) -> Polygon:
if not self._global_stack:
return Polygon()
# Compensate for raft/skirt/brim
# Add extra margin depending on adhesion type
adhesion_type = self._global_stack.getProperty("adhesion_type", "value")
max_length_available = 0.5 * min(
self._getSettingProperty("machine_width", "value"),
self._getSettingProperty("machine_depth", "value")
)
if adhesion_type == "raft":
extra_margin = min(max_length_available, max(0, self._getSettingProperty("raft_margin", "value")))
elif adhesion_type == "brim":
extra_margin = min(max_length_available, max(0, self._getSettingProperty("brim_line_count", "value") * self._getSettingProperty("skirt_brim_line_width", "value")))
elif adhesion_type == "none":
extra_margin = 0
elif adhesion_type == "skirt":
extra_margin = min(max_length_available, max(
0, self._getSettingProperty("skirt_gap", "value") +
self._getSettingProperty("skirt_line_count", "value") * self._getSettingProperty("skirt_brim_line_width", "value")))
else:
raise Exception("Unknown bed adhesion type. Did you forget to update the convex hull calculations for your new bed adhesion type?")
# Adjust head_and_fans with extra margin
if extra_margin > 0:
extra_margin_polygon = Polygon.approximatedCircle(extra_margin)
poly = poly.getMinkowskiHull(extra_margin_polygon)
return poly
## Offset the convex hull with settings that influence the collision area.
#
# \param convex_hull Polygon of the original convex hull.
# \return New Polygon instance that is offset with everything that
# influences the collision area.
def _offsetHull(self, convex_hull: Polygon) -> Polygon:
horizontal_expansion = max(
self._getSettingProperty("xy_offset", "value"),
self._getSettingProperty("xy_offset_layer_0", "value")
)
mold_width = 0
if self._getSettingProperty("mold_enabled", "value"):
mold_width = self._getSettingProperty("mold_width", "value")
hull_offset = horizontal_expansion + mold_width
if hull_offset > 0: #TODO: Implement Minkowski subtraction for if the offset < 0.
expansion_polygon = Polygon(numpy.array([
[-hull_offset, -hull_offset],
[-hull_offset, hull_offset],
[hull_offset, hull_offset],
[hull_offset, -hull_offset]
], numpy.float32))
return convex_hull.getMinkowskiHull(expansion_polygon)
else:
return convex_hull
def _onChanged(self, *args) -> None:
self._raft_thickness = self._build_volume.getRaftThickness()
if not args or args[0] == self._node:
self.recomputeConvexHullDelayed()
def _onGlobalStackChanged(self) -> None:
if self._global_stack:
self._global_stack.propertyChanged.disconnect(self._onSettingValueChanged)
self._global_stack.containersChanged.disconnect(self._onChanged)
extruders = ExtruderManager.getInstance().getActiveExtruderStacks()
for extruder in extruders:
extruder.propertyChanged.disconnect(self._onSettingValueChanged)
self._global_stack = Application.getInstance().getGlobalContainerStack()
if self._global_stack:
self._global_stack.propertyChanged.connect(self._onSettingValueChanged)
self._global_stack.containersChanged.connect(self._onChanged)
extruders = ExtruderManager.getInstance().getActiveExtruderStacks()
for extruder in extruders:
extruder.propertyChanged.connect(self._onSettingValueChanged)
self._onChanged()
## Private convenience function to get a setting from the correct extruder (as defined by limit_to_extruder property).
def _getSettingProperty(self, setting_key: str, prop: str = "value") -> Any:
if self._global_stack is None or self._node is None:
return None
per_mesh_stack = self._node.callDecoration("getStack")
if per_mesh_stack:
return per_mesh_stack.getProperty(setting_key, prop)
extruder_index = self._global_stack.getProperty(setting_key, "limit_to_extruder")
if extruder_index == "-1":
# No limit_to_extruder
extruder_stack_id = self._node.callDecoration("getActiveExtruder")
if not extruder_stack_id:
# Decoration doesn't exist
extruder_stack_id = ExtruderManager.getInstance().extruderIds["0"]
extruder_stack = ContainerRegistry.getInstance().findContainerStacks(id = extruder_stack_id)[0]
return extruder_stack.getProperty(setting_key, prop)
else:
# Limit_to_extruder is set. The global stack handles this then
return self._global_stack.getProperty(setting_key, prop)
## Returns True if node is a descendant or the same as the root node.
def __isDescendant(self, root: "SceneNode", node: Optional["SceneNode"]) -> bool:
if node is None:
return False
if root is node:
return True
return self.__isDescendant(root, node.getParent())
## True if print_sequence is one_at_a_time and _node is not part of a group
def _is_singular_one_at_a_time_node(self) -> bool:
if self._node is None:
return False
return self._global_stack \
and self._global_stack.getProperty("print_sequence", "value") == "one_at_a_time" \
and not self.hasGroupAsParent(self._node)
_affected_settings = [
"adhesion_type", "raft_margin", "print_sequence",
"skirt_gap", "skirt_line_count", "skirt_brim_line_width", "skirt_distance", "brim_line_count"]
## Settings that change the convex hull.
#
# If these settings change, the convex hull should be recalculated.
_influencing_settings = {"xy_offset", "xy_offset_layer_0", "mold_enabled", "mold_width", "anti_overhang_mesh", "infill_mesh", "cutting_mesh"}
|