diff options
Diffstat (limited to 'src/libslic3r/SLA/SupportTreeBuildsteps.cpp')
| -rw-r--r-- | src/libslic3r/SLA/SupportTreeBuildsteps.cpp | 1174 |
1 files changed, 563 insertions, 611 deletions
diff --git a/src/libslic3r/SLA/SupportTreeBuildsteps.cpp b/src/libslic3r/SLA/SupportTreeBuildsteps.cpp index 5d60d7513..3c39c64e6 100644 --- a/src/libslic3r/SLA/SupportTreeBuildsteps.cpp +++ b/src/libslic3r/SLA/SupportTreeBuildsteps.cpp @@ -1,19 +1,36 @@ #include <libslic3r/SLA/SupportTreeBuildsteps.hpp> -#include <libnest2d/optimizers/nlopt/genetic.hpp> -#include <libnest2d/optimizers/nlopt/subplex.hpp> +#include <libslic3r/SLA/SpatIndex.hpp> +#include <libslic3r/Optimize/NLoptOptimizer.hpp> #include <boost/log/trivial.hpp> namespace Slic3r { namespace sla { -static const Vec3d DOWN = {0.0, 0.0, -1.0}; +using Slic3r::opt::initvals; +using Slic3r::opt::bounds; +using Slic3r::opt::StopCriteria; +using Slic3r::opt::Optimizer; +using Slic3r::opt::AlgNLoptSubplex; +using Slic3r::opt::AlgNLoptGenetic; -using libnest2d::opt::initvals; -using libnest2d::opt::bound; -using libnest2d::opt::StopCriteria; -using libnest2d::opt::GeneticOptimizer; -using libnest2d::opt::SubplexOptimizer; +StopCriteria get_criteria(const SupportTreeConfig &cfg) +{ + return StopCriteria{} + .rel_score_diff(cfg.optimizer_rel_score_diff) + .max_iterations(cfg.optimizer_max_iterations); +} + +template<class C, class Hit = IndexedMesh::hit_result> +static Hit min_hit(const C &hits) +{ + auto mit = std::min_element(hits.begin(), hits.end(), + [](const Hit &h1, const Hit &h2) { + return h1.distance() < h2.distance(); + }); + + return *mit; +} SupportTreeBuildsteps::SupportTreeBuildsteps(SupportTreeBuilder & builder, const SupportableMesh &sm) @@ -27,7 +44,7 @@ SupportTreeBuildsteps::SupportTreeBuildsteps(SupportTreeBuilder & builder, { // Prepare the support points in Eigen/IGL format as well, we will use // it mostly in this form. - + long i = 0; for (const SupportPoint &sp : m_support_pts) { m_points.row(i)(X) = double(sp.pos(X)); @@ -41,9 +58,11 @@ bool SupportTreeBuildsteps::execute(SupportTreeBuilder & builder, const SupportableMesh &sm) { if(sm.pts.empty()) return false; - + + builder.ground_level = sm.emesh.ground_level() - sm.cfg.object_elevation_mm; + SupportTreeBuildsteps alg(builder, sm); - + // Let's define the individual steps of the processing. We can experiment // later with the ordering and the dependencies between them. enum Steps { @@ -54,59 +73,52 @@ bool SupportTreeBuildsteps::execute(SupportTreeBuilder & builder, ROUTING_GROUND, ROUTING_NONGROUND, CASCADE_PILLARS, - HEADLESS, MERGE_RESULT, DONE, ABORT, NUM_STEPS //... }; - + // Collect the algorithm steps into a nice sequence std::array<std::function<void()>, NUM_STEPS> program = { [] () { // Begin... // Potentially clear up the shared data (not needed for now) }, - + std::bind(&SupportTreeBuildsteps::filter, &alg), - + std::bind(&SupportTreeBuildsteps::add_pinheads, &alg), - + std::bind(&SupportTreeBuildsteps::classify, &alg), - + std::bind(&SupportTreeBuildsteps::routing_to_ground, &alg), - + std::bind(&SupportTreeBuildsteps::routing_to_model, &alg), - + std::bind(&SupportTreeBuildsteps::interconnect_pillars, &alg), - - std::bind(&SupportTreeBuildsteps::routing_headless, &alg), - + std::bind(&SupportTreeBuildsteps::merge_result, &alg), - + [] () { // Done }, - + [] () { // Abort } }; - + Steps pc = BEGIN; - + if(sm.cfg.ground_facing_only) { program[ROUTING_NONGROUND] = []() { BOOST_LOG_TRIVIAL(info) << "Skipping model-facing supports as requested."; }; - program[HEADLESS] = []() { - BOOST_LOG_TRIVIAL(info) << "Skipping headless stick generation as" - " requested."; - }; } - + // Let's define a simple automaton that will run our program. auto progress = [&builder, &pc] () { static const std::array<std::string, NUM_STEPS> stepstr { @@ -117,12 +129,11 @@ bool SupportTreeBuildsteps::execute(SupportTreeBuilder & builder, "Routing to ground", "Routing supports to model surface", "Interconnecting pillars", - "Processing small holes", "Merging support mesh", "Done", "Abort" }; - + static const std::array<unsigned, NUM_STEPS> stepstate { 0, 10, @@ -131,14 +142,13 @@ bool SupportTreeBuildsteps::execute(SupportTreeBuilder & builder, 60, 70, 80, - 85, 99, 100, 0 }; - + if(builder.ctl().stopcondition()) pc = ABORT; - + switch(pc) { case BEGIN: pc = FILTER; break; case FILTER: pc = PINHEADS; break; @@ -146,143 +156,78 @@ bool SupportTreeBuildsteps::execute(SupportTreeBuilder & builder, case CLASSIFY: pc = ROUTING_GROUND; break; case ROUTING_GROUND: pc = ROUTING_NONGROUND; break; case ROUTING_NONGROUND: pc = CASCADE_PILLARS; break; - case CASCADE_PILLARS: pc = HEADLESS; break; - case HEADLESS: pc = MERGE_RESULT; break; + case CASCADE_PILLARS: pc = MERGE_RESULT; break; case MERGE_RESULT: pc = DONE; break; case DONE: case ABORT: break; default: ; } - + builder.ctl().statuscb(stepstate[pc], stepstr[pc]); }; - + // Just here we run the computation... while(pc < DONE) { progress(); program[pc](); } - - return pc == ABORT; -} -// Give points on a 3D ring with given center, radius and orientation -// method based on: -// https://math.stackexchange.com/questions/73237/parametric-equation-of-a-circle-in-3d-space -template<size_t N> -class PointRing { - std::array<double, N> m_phis; - - // Two vectors that will be perpendicular to each other and to the - // axis. Values for a(X) and a(Y) are now arbitrary, a(Z) is just a - // placeholder. - // a and b vectors are perpendicular to the ring direction and to each other. - // Together they define the plane where we have to iterate with the - // given angles in the 'm_phis' vector - Vec3d a = {0, 1, 0}, b; - double m_radius = 0.; - - static inline bool constexpr is_one(double val) - { - return std::abs(std::abs(val) - 1) < 1e-20; - } - -public: - - PointRing(const Vec3d &n) - { - m_phis = linspace_array<N>(0., 2 * PI); - - // We have to address the case when the direction vector v (same as - // dir) is coincident with one of the world axes. In this case two of - // its components will be completely zero and one is 1.0. Our method - // becomes dangerous here due to division with zero. Instead, vector - // 'a' can be an element-wise rotated version of 'v' - if(is_one(n(X)) || is_one(n(Y)) || is_one(n(Z))) { - a = {n(Z), n(X), n(Y)}; - b = {n(Y), n(Z), n(X)}; - } - else { - a(Z) = -(n(Y)*a(Y)) / n(Z); a.normalize(); - b = a.cross(n); - } - } - - Vec3d get(size_t idx, const Vec3d src, double r) const - { - double phi = m_phis[idx]; - double sinphi = std::sin(phi); - double cosphi = std::cos(phi); - - double rpscos = r * cosphi; - double rpssin = r * sinphi; - - // Point on the sphere - return {src(X) + rpscos * a(X) + rpssin * b(X), - src(Y) + rpscos * a(Y) + rpssin * b(Y), - src(Z) + rpscos * a(Z) + rpssin * b(Z)}; - } -}; - -template<class C, class Hit = EigenMesh3D::hit_result> -static Hit min_hit(const C &hits) -{ - auto mit = std::min_element(hits.begin(), hits.end(), - [](const Hit &h1, const Hit &h2) { - return h1.distance() < h2.distance(); - }); - - return *mit; + return pc == ABORT; } -EigenMesh3D::hit_result SupportTreeBuildsteps::pinhead_mesh_intersect( - const Vec3d &s, const Vec3d &dir, double r_pin, double r_back, double width) +IndexedMesh::hit_result SupportTreeBuildsteps::pinhead_mesh_intersect( + const Vec3d &s, + const Vec3d &dir, + double r_pin, + double r_back, + double width, + double sd) { static const size_t SAMPLES = 8; - + // Move away slightly from the touching point to avoid raycasting on the // inner surface of the mesh. - - const double& sd = m_cfg.safety_distance_mm; - + auto& m = m_mesh; - using HitResult = EigenMesh3D::hit_result; - + using HitResult = IndexedMesh::hit_result; + // Hit results std::array<HitResult, SAMPLES> hits; - + struct Rings { double rpin; double rback; Vec3d spin; Vec3d sback; PointRing<SAMPLES> ring; - + Vec3d backring(size_t idx) { return ring.get(idx, sback, rback); } Vec3d pinring(size_t idx) { return ring.get(idx, spin, rpin); } } rings {r_pin + sd, r_back + sd, s, s + width * dir, dir}; - + // We will shoot multiple rays from the head pinpoint in the direction // of the pinhead robe (side) surface. The result will be the smallest // hit distance. - - ccr::enumerate(hits.begin(), hits.end(), - [&m, &rings, sd](HitResult &hit, size_t i) { - + + ccr::for_each(size_t(0), hits.size(), + [&m, &rings, sd, &hits](size_t i) { + // Point on the circle on the pin sphere Vec3d ps = rings.pinring(i); // This is the point on the circle on the back sphere Vec3d p = rings.backring(i); - + + auto &hit = hits[i]; + // Point ps is not on mesh but can be inside or // outside as well. This would cause many problems // with ray-casting. To detect the position we will // use the ray-casting result (which has an is_inside - // predicate). - + // predicate). + Vec3d n = (p - ps).normalized(); auto q = m.query_ray_hit(ps + sd * n, n); - + if (q.is_inside()) { // the hit is inside the model if (q.distance() > rings.rpin) { // If we are inside the model and the hit @@ -307,40 +252,40 @@ EigenMesh3D::hit_result SupportTreeBuildsteps::pinhead_mesh_intersect( } else hit = q; }); - + return min_hit(hits); } -EigenMesh3D::hit_result SupportTreeBuildsteps::bridge_mesh_intersect( - const Vec3d &src, const Vec3d &dir, double r, bool ins_check) +IndexedMesh::hit_result SupportTreeBuildsteps::bridge_mesh_intersect( + const Vec3d &src, const Vec3d &dir, double r, double sd) { static const size_t SAMPLES = 8; PointRing<SAMPLES> ring{dir}; - - using Hit = EigenMesh3D::hit_result; - + + using Hit = IndexedMesh::hit_result; + // Hit results std::array<Hit, SAMPLES> hits; - - ccr::enumerate(hits.begin(), hits.end(), - [this, r, src, ins_check, &ring, dir] (Hit &hit, size_t i) { - - const double sd = m_cfg.safety_distance_mm; - + + ccr::for_each(size_t(0), hits.size(), + [this, r, src, /*ins_check,*/ &ring, dir, sd, &hits] (size_t i) + { + Hit &hit = hits[i]; + // Point on the circle on the pin sphere Vec3d p = ring.get(i, src, r + sd); - - auto hr = m_mesh.query_ray_hit(p + sd * dir, dir); - - if(ins_check && hr.is_inside()) { + + auto hr = m_mesh.query_ray_hit(p + r * dir, dir); + + if(/*ins_check && */hr.is_inside()) { if(hr.distance() > 2 * r + sd) hit = Hit(0.0); else { // re-cast the ray from the outside of the object - hit = m_mesh.query_ray_hit(p + (hr.distance() + 2 * sd) * dir, dir); + hit = m_mesh.query_ray_hit(p + (hr.distance() + EPSILON) * dir, dir); } } else hit = hr; }); - + return min_hit(hits); } @@ -354,61 +299,61 @@ bool SupportTreeBuildsteps::interconnect(const Pillar &pillar, // shorter pillar is too short to start a new bridge but the taller // pillar could still be bridged with the shorter one. bool was_connected = false; - + Vec3d supper = pillar.startpoint(); Vec3d slower = nextpillar.startpoint(); Vec3d eupper = pillar.endpoint(); Vec3d elower = nextpillar.endpoint(); - + double zmin = m_builder.ground_level + m_cfg.base_height_mm; eupper(Z) = std::max(eupper(Z), zmin); elower(Z) = std::max(elower(Z), zmin); - + // The usable length of both pillars should be positive if(slower(Z) - elower(Z) < 0) return false; if(supper(Z) - eupper(Z) < 0) return false; - + double pillar_dist = distance(Vec2d{slower(X), slower(Y)}, Vec2d{supper(X), supper(Y)}); double bridge_distance = pillar_dist / std::cos(-m_cfg.bridge_slope); double zstep = pillar_dist * std::tan(-m_cfg.bridge_slope); - + if(pillar_dist < 2 * m_cfg.head_back_radius_mm || pillar_dist > m_cfg.max_pillar_link_distance_mm) return false; - + if(supper(Z) < slower(Z)) supper.swap(slower); if(eupper(Z) < elower(Z)) eupper.swap(elower); - + double startz = 0, endz = 0; - + startz = slower(Z) - zstep < supper(Z) ? slower(Z) - zstep : slower(Z); endz = eupper(Z) + zstep > elower(Z) ? eupper(Z) + zstep : eupper(Z); - + if(slower(Z) - eupper(Z) < std::abs(zstep)) { // no space for even one cross - + // Get max available space startz = std::min(supper(Z), slower(Z) - zstep); endz = std::max(eupper(Z) + zstep, elower(Z)); - + // Align to center double available_dist = (startz - endz); double rounds = std::floor(available_dist / std::abs(zstep)); startz -= 0.5 * (available_dist - rounds * std::abs(zstep)); } - + auto pcm = m_cfg.pillar_connection_mode; bool docrosses = pcm == PillarConnectionMode::cross || (pcm == PillarConnectionMode::dynamic && pillar_dist > 2*m_cfg.base_radius_mm); - + // 'sj' means starting junction, 'ej' is the end junction of a bridge. // They will be swapped in every iteration thus the zig-zag pattern. // According to a config parameter, a second bridge may be added which // results in a cross connection between the pillars. Vec3d sj = supper, ej = slower; sj(Z) = startz; ej(Z) = sj(Z) + zstep; - + // TODO: This is a workaround to not have a faulty last bridge while(ej(Z) >= eupper(Z) /*endz*/) { if(bridge_mesh_distance(sj, dirv(sj, ej), pillar.r) >= bridge_distance) @@ -416,7 +361,7 @@ bool SupportTreeBuildsteps::interconnect(const Pillar &pillar, m_builder.add_crossbridge(sj, ej, pillar.r); was_connected = true; } - + // double bridging: (crosses) if(docrosses) { Vec3d sjback(ej(X), ej(Y), sj(Z)); @@ -429,11 +374,11 @@ bool SupportTreeBuildsteps::interconnect(const Pillar &pillar, was_connected = true; } } - + sj.swap(ej); ej(Z) = sj(Z) + zstep; } - + return was_connected; } @@ -443,228 +388,242 @@ bool SupportTreeBuildsteps::connect_to_nearpillar(const Head &head, auto nearpillar = [this, nearpillar_id]() -> const Pillar& { return m_builder.pillar(nearpillar_id); }; - - if (m_builder.bridgecount(nearpillar()) > m_cfg.max_bridges_on_pillar) + + if (m_builder.bridgecount(nearpillar()) > m_cfg.max_bridges_on_pillar) return false; - + Vec3d headjp = head.junction_point(); Vec3d nearjp_u = nearpillar().startpoint(); Vec3d nearjp_l = nearpillar().endpoint(); - + double r = head.r_back_mm; double d2d = distance(to_2d(headjp), to_2d(nearjp_u)); double d3d = distance(headjp, nearjp_u); - + double hdiff = nearjp_u(Z) - headjp(Z); double slope = std::atan2(hdiff, d2d); - + Vec3d bridgestart = headjp; Vec3d bridgeend = nearjp_u; - double max_len = m_cfg.max_bridge_length_mm; + double max_len = r * m_cfg.max_bridge_length_mm / m_cfg.head_back_radius_mm; double max_slope = m_cfg.bridge_slope; double zdiff = 0.0; - + // check the default situation if feasible for a bridge if(d3d > max_len || slope > -max_slope) { // not feasible to connect the two head junctions. We have to search // for a suitable touch point. - + double Zdown = headjp(Z) + d2d * std::tan(-max_slope); Vec3d touchjp = bridgeend; touchjp(Z) = Zdown; double D = distance(headjp, touchjp); zdiff = Zdown - nearjp_u(Z); - + if(zdiff > 0) { Zdown -= zdiff; bridgestart(Z) -= zdiff; touchjp(Z) = Zdown; - + double t = bridge_mesh_distance(headjp, DOWN, r); - + // We can't insert a pillar under the source head to connect // with the nearby pillar's starting junction if(t < zdiff) return false; } - + if(Zdown <= nearjp_u(Z) && Zdown >= nearjp_l(Z) && D < max_len) bridgeend(Z) = Zdown; else return false; } - + // There will be a minimum distance from the ground where the // bridge is allowed to connect. This is an empiric value. - double minz = m_builder.ground_level + 2 * m_cfg.head_width_mm; + double minz = m_builder.ground_level + 4 * head.r_back_mm; if(bridgeend(Z) < minz) return false; - + double t = bridge_mesh_distance(bridgestart, dirv(bridgestart, bridgeend), r); - + // Cannot insert the bridge. (further search might not worth the hassle) if(t < distance(bridgestart, bridgeend)) return false; - + std::lock_guard<ccr::BlockingMutex> lk(m_bridge_mutex); - + if (m_builder.bridgecount(nearpillar()) < m_cfg.max_bridges_on_pillar) { // A partial pillar is needed under the starting head. if(zdiff > 0) { - m_builder.add_pillar(head.id, bridgestart, r); + m_builder.add_pillar(head.id, headjp.z() - bridgestart.z()); m_builder.add_junction(bridgestart, r); - m_builder.add_bridge(bridgestart, bridgeend, head.r_back_mm); + m_builder.add_bridge(bridgestart, bridgeend, r); } else { m_builder.add_bridge(head.id, bridgeend); } - + m_builder.increment_bridges(nearpillar()); } else return false; - - return true; -} -bool SupportTreeBuildsteps::search_pillar_and_connect(const Head &head) -{ - PointIndex spindex = m_pillar_index.guarded_clone(); - - long nearest_id = ID_UNSET; - - Vec3d querypoint = head.junction_point(); - - while(nearest_id < 0 && !spindex.empty()) { m_thr(); - // loop until a suitable head is not found - // if there is a pillar closer than the cluster center - // (this may happen as the clustering is not perfect) - // than we will bridge to this closer pillar - - Vec3d qp(querypoint(X), querypoint(Y), m_builder.ground_level); - auto qres = spindex.nearest(qp, 1); - if(qres.empty()) break; - - auto ne = qres.front(); - nearest_id = ne.second; - - if(nearest_id >= 0) { - if(size_t(nearest_id) < m_builder.pillarcount()) { - if(!connect_to_nearpillar(head, nearest_id)) { - nearest_id = ID_UNSET; // continue searching - spindex.remove(ne); // without the current pillar - } - } - } - } - - return nearest_id >= 0; + return true; } -void SupportTreeBuildsteps::create_ground_pillar(const Vec3d &jp, +bool SupportTreeBuildsteps::create_ground_pillar(const Vec3d &hjp, const Vec3d &sourcedir, double radius, long head_id) { - const double SLOPE = 1. / std::cos(m_cfg.bridge_slope); - - double gndlvl = m_builder.ground_level; - Vec3d endp = {jp(X), jp(Y), gndlvl}; - double sd = m_cfg.pillar_base_safety_distance_mm; - long pillar_id = ID_UNSET; - double min_dist = sd + m_cfg.base_radius_mm + EPSILON; - double dist = 0; - bool can_add_base = true; - bool normal_mode = true; - - // If in zero elevation mode and the pillar is too close to the model body, - // the support pillar can not be placed in the gap between the model and - // the pad, and the pillar bases must not touch the model body either. - // To solve this, a corrector bridge is inserted between the starting point - // (jp) and the new pillar. - if (m_cfg.object_elevation_mm < EPSILON - && (dist = std::sqrt(m_mesh.squared_distance(endp))) < min_dist) { - // Get the distance from the mesh. This can be later optimized - // to get the distance in 2D plane because we are dealing with - // the ground level only. - - normal_mode = false; - - // The min distance needed to move away from the model in XY plane. - double current_d = min_dist - dist; - double current_bride_d = SLOPE * current_d; + Vec3d jp = hjp, endp = jp, dir = sourcedir; + long pillar_id = SupportTreeNode::ID_UNSET; + bool can_add_base = false, non_head = false; + + double gndlvl = 0.; // The Z level where pedestals should be + double jp_gnd = 0.; // The lowest Z where a junction center can be + double gap_dist = 0.; // The gap distance between the model and the pad + + auto to_floor = [&gndlvl](const Vec3d &p) { return Vec3d{p.x(), p.y(), gndlvl}; }; + auto eval_limits = [this, &radius, &can_add_base, &gndlvl, &gap_dist, &jp_gnd] + (bool base_en = true) + { + can_add_base = base_en && radius >= m_cfg.head_back_radius_mm; + double base_r = can_add_base ? m_cfg.base_radius_mm : 0.; + gndlvl = m_builder.ground_level; + if (!can_add_base) gndlvl -= m_mesh.ground_level_offset(); + jp_gnd = gndlvl + (can_add_base ? 0. : m_cfg.head_back_radius_mm); + gap_dist = m_cfg.pillar_base_safety_distance_mm + base_r + EPSILON; + }; + + eval_limits(); + + // We are dealing with a mini pillar that's potentially too long + if (radius < m_cfg.head_back_radius_mm && jp.z() - gndlvl > 20 * radius) + { + std::optional<DiffBridge> diffbr = + search_widening_path(jp, dir, radius, m_cfg.head_back_radius_mm); + + if (diffbr && diffbr->endp.z() > jp_gnd) { + auto &br = m_builder.add_diffbridge(*diffbr); + if (head_id >= 0) m_builder.head(head_id).bridge_id = br.id; + endp = diffbr->endp; + radius = diffbr->end_r; + m_builder.add_junction(endp, radius); + non_head = true; + dir = diffbr->get_dir(); + eval_limits(); + } else return false; + } + + if (m_cfg.object_elevation_mm < EPSILON) + { // get a suitable direction for the corrector bridge. It is the // original sourcedir's azimuth but the polar angle is saturated to the // configured bridge slope. - auto [polar, azimuth] = dir_to_spheric(sourcedir); + auto [polar, azimuth] = dir_to_spheric(dir); polar = PI - m_cfg.bridge_slope; - auto dir = spheric_to_dir(polar, azimuth).normalized(); - - StopCriteria scr; - scr.stop_score = min_dist; - SubplexOptimizer solver(scr); - - // Search for a distance along the corrector bridge to move the endpoint - // sufficiently away form the model body. The first few optimization - // cycles should succeed here. - auto result = solver.optimize_max( - [this, dir, jp, gndlvl](double mv) { - Vec3d endpt = jp + mv * dir; - endpt(Z) = gndlvl; - return std::sqrt(m_mesh.squared_distance(endpt)); - }, - initvals(current_bride_d), - bound(0.0, m_cfg.max_bridge_length_mm - current_bride_d)); - - endp = jp + std::get<0>(result.optimum) * dir; - Vec3d pgnd = {endp(X), endp(Y), gndlvl}; - can_add_base = result.score > min_dist; - - double gnd_offs = m_mesh.ground_level_offset(); - auto abort_in_shame = - [gnd_offs, &normal_mode, &can_add_base, &endp, jp, gndlvl]() - { - normal_mode = true; - can_add_base = false; // Nothing left to do, hope for the best - endp = {jp(X), jp(Y), gndlvl - gnd_offs }; - }; - - // We have to check if the bridge is feasible. - if (bridge_mesh_distance(jp, dir, radius) < (endp - jp).norm()) - abort_in_shame(); - else { - // If the new endpoint is below ground, do not make a pillar - if (endp(Z) < gndlvl) - endp = endp - SLOPE * (gndlvl - endp(Z)) * dir; // back off - else { - - auto hit = bridge_mesh_intersect(endp, DOWN, radius); - if (!std::isinf(hit.distance())) abort_in_shame(); - - pillar_id = m_builder.add_pillar(endp, pgnd, radius); - - if (can_add_base) - m_builder.add_pillar_base(pillar_id, m_cfg.base_height_mm, - m_cfg.base_radius_mm); + Vec3d d = spheric_to_dir(polar, azimuth).normalized(); + double t = bridge_mesh_distance(endp, dir, radius); + double tmax = std::min(m_cfg.max_bridge_length_mm, t); + t = 0.; + + double zd = endp.z() - jp_gnd; + double tmax2 = zd / std::sqrt(1 - m_cfg.bridge_slope * m_cfg.bridge_slope); + tmax = std::min(tmax, tmax2); + + Vec3d nexp = endp; + double dlast = 0.; + while (((dlast = std::sqrt(m_mesh.squared_distance(to_floor(nexp)))) < gap_dist || + !std::isinf(bridge_mesh_distance(nexp, DOWN, radius))) && t < tmax) { + t += radius; + nexp = endp + t * d; + } + + if (dlast < gap_dist && can_add_base) { + nexp = endp; + t = 0.; + can_add_base = false; + eval_limits(can_add_base); + + zd = endp.z() - jp_gnd; + tmax2 = zd / std::sqrt(1 - m_cfg.bridge_slope * m_cfg.bridge_slope); + tmax = std::min(tmax, tmax2); + + while (((dlast = std::sqrt(m_mesh.squared_distance(to_floor(nexp)))) < gap_dist || + !std::isinf(bridge_mesh_distance(nexp, DOWN, radius))) && t < tmax) { + t += radius; + nexp = endp + t * d; } - - m_builder.add_bridge(jp, endp, radius); - m_builder.add_junction(endp, radius); - - // Add a degenerated pillar and the bridge. - // The degenerate pillar will have zero length and it will - // prevent from queries of head_pillar() to have non-existing - // pillar when the head should have one. - if (head_id >= 0) - m_builder.add_pillar(head_id, jp, radius); + } + + // Could not find a path to avoid the pad gap + if (dlast < gap_dist) return false; + + if (t > 0.) { // Need to make additional bridge + const Bridge& br = m_builder.add_bridge(endp, nexp, radius); + if (head_id >= 0) m_builder.head(head_id).bridge_id = br.id; + + m_builder.add_junction(nexp, radius); + endp = nexp; + non_head = true; } } - - if (normal_mode) { - pillar_id = head_id >= 0 ? m_builder.add_pillar(head_id, endp, radius) : - m_builder.add_pillar(jp, endp, radius); - - if (can_add_base) - m_builder.add_pillar_base(pillar_id, m_cfg.base_height_mm, - m_cfg.base_radius_mm); - } - + + Vec3d gp = to_floor(endp); + double h = endp.z() - gp.z(); + + pillar_id = head_id >= 0 && !non_head ? m_builder.add_pillar(head_id, h) : + m_builder.add_pillar(gp, h, radius); + + if (can_add_base) + add_pillar_base(pillar_id); + if(pillar_id >= 0) // Save the pillar endpoint in the spatial index - m_pillar_index.guarded_insert(endp, unsigned(pillar_id)); + m_pillar_index.guarded_insert(m_builder.pillar(pillar_id).endpt, + unsigned(pillar_id)); + + return true; +} + +std::optional<DiffBridge> SupportTreeBuildsteps::search_widening_path( + const Vec3d &jp, const Vec3d &dir, double radius, double new_radius) +{ + double w = radius + 2 * m_cfg.head_back_radius_mm; + double stopval = w + jp.z() - m_builder.ground_level; + Optimizer<AlgNLoptSubplex> solver(get_criteria(m_cfg).stop_score(stopval)); + + auto [polar, azimuth] = dir_to_spheric(dir); + + double fallback_ratio = radius / m_cfg.head_back_radius_mm; + + auto oresult = solver.to_max().optimize( + [this, jp, radius, new_radius](const opt::Input<3> &input) { + auto &[plr, azm, t] = input; + + auto d = spheric_to_dir(plr, azm).normalized(); + double ret = pinhead_mesh_intersect(jp, d, radius, new_radius, t) + .distance(); + double down = bridge_mesh_distance(jp + t * d, d, new_radius); + + if (ret > t && std::isinf(down)) + ret += jp.z() - m_builder.ground_level; + + return ret; + }, + initvals({polar, azimuth, w}), // start with what we have + bounds({ + {PI - m_cfg.bridge_slope, PI}, // Must not exceed the slope limit + {-PI, PI}, // azimuth can be a full search + {radius + m_cfg.head_back_radius_mm, + fallback_ratio * m_cfg.max_bridge_length_mm} + })); + + if (oresult.score >= stopval) { + polar = std::get<0>(oresult.optimum); + azimuth = std::get<1>(oresult.optimum); + double t = std::get<2>(oresult.optimum); + Vec3d endp = jp + t * spheric_to_dir(polar, azimuth); + + return DiffBridge(jp, endp, radius, m_cfg.head_back_radius_mm); + } + + return {}; } void SupportTreeBuildsteps::filter() @@ -672,7 +631,7 @@ void SupportTreeBuildsteps::filter() // Get the points that are too close to each other and keep only the // first one auto aliases = cluster(m_points, D_SP, 2); - + PtIndices filtered_indices; filtered_indices.reserve(aliases.size()); m_iheads.reserve(aliases.size()); @@ -681,136 +640,130 @@ void SupportTreeBuildsteps::filter() // Here we keep only the front point of the cluster. filtered_indices.emplace_back(a.front()); } - + // calculate the normals to the triangles for filtered points auto nmls = sla::normals(m_points, m_mesh, m_cfg.head_front_radius_mm, m_thr, filtered_indices); - + // Not all of the support points have to be a valid position for // support creation. The angle may be inappropriate or there may // not be enough space for the pinhead. Filtering is applied for // these reasons. - - ccr::SpinningMutex mutex; - auto addfn = [&mutex](PtIndices &container, unsigned val) { - std::lock_guard<ccr::SpinningMutex> lk(mutex); - container.emplace_back(val); - }; - - auto filterfn = [this, &nmls, addfn](unsigned fidx, size_t i) { + + std::vector<Head> heads; heads.reserve(m_support_pts.size()); + for (const SupportPoint &sp : m_support_pts) { m_thr(); - + heads.emplace_back( + std::nan(""), + sp.head_front_radius, + 0., + m_cfg.head_penetration_mm, + Vec3d::Zero(), // dir + sp.pos.cast<double>() // displacement + ); + } + + std::function<void(unsigned, size_t, double)> filterfn; + filterfn = [this, &nmls, &heads, &filterfn](unsigned fidx, size_t i, double back_r) { + m_thr(); + auto n = nmls.row(Eigen::Index(i)); - + // for all normals we generate the spherical coordinates and // saturate the polar angle to 45 degrees from the bottom then // convert back to standard coordinates to get the new normal. // Then we just create a quaternion from the two normals // (Quaternion::FromTwoVectors) and apply the rotation to the // arrow head. - + auto [polar, azimuth] = dir_to_spheric(n); - + // skip if the tilt is not sane - if(polar >= PI - m_cfg.normal_cutoff_angle) { - - // We saturate the polar angle to 3pi/4 - polar = std::max(polar, 3*PI / 4); - - // save the head (pinpoint) position - Vec3d hp = m_points.row(fidx); - - double w = m_cfg.head_width_mm + - m_cfg.head_back_radius_mm + - 2*m_cfg.head_front_radius_mm; - - double pin_r = double(m_support_pts[fidx].head_front_radius); - - // Reassemble the now corrected normal - auto nn = spheric_to_dir(polar, azimuth).normalized(); - - // check available distance - EigenMesh3D::hit_result t - = pinhead_mesh_intersect(hp, // touching point - nn, // normal - pin_r, - m_cfg.head_back_radius_mm, - w); - - if(t.distance() <= w) { - - // Let's try to optimize this angle, there might be a - // viable normal that doesn't collide with the model - // geometry and its very close to the default. - - StopCriteria stc; - stc.max_iterations = m_cfg.optimizer_max_iterations; - stc.relative_score_difference = m_cfg.optimizer_rel_score_diff; - stc.stop_score = w; // space greater than w is enough - GeneticOptimizer solver(stc); - solver.seed(0); // we want deterministic behavior - - auto oresult = solver.optimize_max( - [this, pin_r, w, hp](double plr, double azm) - { - auto dir = spheric_to_dir(plr, azm).normalized(); - - double score = pinhead_mesh_distance( - hp, dir, pin_r, m_cfg.head_back_radius_mm, w); - - return score; - }, - initvals(polar, azimuth), // start with what we have - bound(3 * PI / 4, PI), // Must not exceed the tilt limit - bound(-PI, PI) // azimuth can be a full search - ); - - if(oresult.score > w) { - polar = std::get<0>(oresult.optimum); - azimuth = std::get<1>(oresult.optimum); - nn = spheric_to_dir(polar, azimuth).normalized(); - t = EigenMesh3D::hit_result(oresult.score); - } - } - - // save the verified and corrected normal - m_support_nmls.row(fidx) = nn; - - if (t.distance() > w) { - // Check distance from ground, we might have zero elevation. - if (hp(Z) + w * nn(Z) < m_builder.ground_level) { - addfn(m_iheadless, fidx); - } else { - // mark the point for needing a head. - addfn(m_iheads, fidx); - } - } else if (polar >= 3 * PI / 4) { - // Headless supports do not tilt like the headed ones - // so the normal should point almost to the ground. - addfn(m_iheadless, fidx); + if (polar < PI - m_cfg.normal_cutoff_angle) return; + + // We saturate the polar angle to 3pi/4 + polar = std::max(polar, PI - m_cfg.bridge_slope); + + // save the head (pinpoint) position + Vec3d hp = m_points.row(fidx); + + double lmin = m_cfg.head_width_mm, lmax = lmin; + + if (back_r < m_cfg.head_back_radius_mm) { + lmin = 0., lmax = m_cfg.head_penetration_mm; + } + + // The distance needed for a pinhead to not collide with model. + double w = lmin + 2 * back_r + 2 * m_cfg.head_front_radius_mm - + m_cfg.head_penetration_mm; + + double pin_r = double(m_support_pts[fidx].head_front_radius); + + // Reassemble the now corrected normal + auto nn = spheric_to_dir(polar, azimuth).normalized(); + + // check available distance + IndexedMesh::hit_result t = pinhead_mesh_intersect(hp, nn, pin_r, + back_r, w); + + if (t.distance() < w) { + // Let's try to optimize this angle, there might be a + // viable normal that doesn't collide with the model + // geometry and its very close to the default. + + Optimizer<AlgNLoptGenetic> solver(get_criteria(m_cfg)); + solver.seed(0); // we want deterministic behavior + + auto oresult = solver.to_max().optimize( + [this, pin_r, back_r, hp](const opt::Input<3> &input) + { + auto &[plr, azm, l] = input; + + auto dir = spheric_to_dir(plr, azm).normalized(); + + return pinhead_mesh_intersect( + hp, dir, pin_r, back_r, l).distance(); + }, + initvals({polar, azimuth, (lmin + lmax) / 2.}), // start with what we have + bounds({ + {PI - m_cfg.bridge_slope, PI}, // Must not exceed the slope limit + {-PI, PI}, // azimuth can be a full search + {lmin, lmax} + })); + + if(oresult.score > w) { + polar = std::get<0>(oresult.optimum); + azimuth = std::get<1>(oresult.optimum); + nn = spheric_to_dir(polar, azimuth).normalized(); + lmin = std::get<2>(oresult.optimum); + t = IndexedMesh::hit_result(oresult.score); } } + + if (t.distance() > w && hp(Z) + w * nn(Z) >= m_builder.ground_level) { + Head &h = heads[fidx]; + h.id = fidx; h.dir = nn; h.width_mm = lmin; h.r_back_mm = back_r; + } else if (back_r > m_cfg.head_fallback_radius_mm) { + filterfn(fidx, i, m_cfg.head_fallback_radius_mm); + } }; - - ccr::enumerate(filtered_indices.begin(), filtered_indices.end(), filterfn); - + + ccr::for_each(size_t(0), filtered_indices.size(), + [this, &filterfn, &filtered_indices] (size_t i) { + filterfn(filtered_indices[i], i, m_cfg.head_back_radius_mm); + }); + + for (size_t i = 0; i < heads.size(); ++i) + if (heads[i].is_valid()) { + m_builder.add_head(i, heads[i]); + m_iheads.emplace_back(i); + } + m_thr(); } void SupportTreeBuildsteps::add_pinheads() { - for (unsigned i : m_iheads) { - m_thr(); - m_builder.add_head( - i, - m_cfg.head_back_radius_mm, - m_support_pts[i].head_front_radius, - m_cfg.head_width_mm, - m_cfg.head_penetration_mm, - m_support_nmls.row(i), // dir - m_support_pts[i].pos.cast<double>() // displacement - ); - } } void SupportTreeBuildsteps::classify() @@ -819,37 +772,37 @@ void SupportTreeBuildsteps::classify() PtIndices ground_head_indices; ground_head_indices.reserve(m_iheads.size()); m_iheads_onmodel.reserve(m_iheads.size()); - + // First we decide which heads reach the ground and can be full // pillars and which shall be connected to the model surface (or // search a suitable path around the surface that leads to the // ground -- TODO) for(unsigned i : m_iheads) { m_thr(); - - auto& head = m_builder.head(i); + + Head &head = m_builder.head(i); double r = head.r_back_mm; Vec3d headjp = head.junction_point(); - + // collision check auto hit = bridge_mesh_intersect(headjp, DOWN, r); - + if(std::isinf(hit.distance())) ground_head_indices.emplace_back(i); else if(m_cfg.ground_facing_only) head.invalidate(); else m_iheads_onmodel.emplace_back(i); - + m_head_to_ground_scans[i] = hit; } - + // We want to search for clusters of points that are far enough // from each other in the XY plane to not cross their pillar bases // These clusters of support points will join in one pillar, // possibly in their centroid support point. - + auto pointfn = [this](unsigned i) { return m_builder.head(i).junction_point(); }; - + auto predicate = [this](const PointIndexEl &e1, const PointIndexEl &e2) { double d2d = distance(to_2d(e1.first), to_2d(e2.first)); @@ -864,14 +817,12 @@ void SupportTreeBuildsteps::classify() void SupportTreeBuildsteps::routing_to_ground() { - const double pradius = m_cfg.head_back_radius_mm; - ClusterEl cl_centroids; cl_centroids.reserve(m_pillar_clusters.size()); - + for (auto &cl : m_pillar_clusters) { m_thr(); - + // place all the centroid head positions into the index. We // will query for alternative pillar positions. If a sidehead // cannot connect to the cluster centroid, we have to search @@ -879,9 +830,9 @@ void SupportTreeBuildsteps::routing_to_ground() // elements in the cluster, the centroid is arbitrary and the // sidehead is allowed to connect to a nearby pillar to // increase structural stability. - + if (cl.empty()) continue; - + // get the current cluster centroid auto & thr = m_thr; const auto &points = m_points; @@ -895,43 +846,44 @@ void SupportTreeBuildsteps::routing_to_ground() assert(lcid >= 0); unsigned hid = cl[size_t(lcid)]; // Head ID - + cl_centroids.emplace_back(hid); - + Head &h = m_builder.head(hid); - h.transform(); - - create_ground_pillar(h.junction_point(), h.dir, h.r_back_mm, h.id); + + if (!create_ground_pillar(h.junction_point(), h.dir, h.r_back_mm, h.id)) { + BOOST_LOG_TRIVIAL(warning) + << "Pillar cannot be created for support point id: " << hid; + m_iheads_onmodel.emplace_back(h.id); + continue; + } } - + // now we will go through the clusters ones again and connect the // sidepoints with the cluster centroid (which is a ground pillar) // or a nearby pillar if the centroid is unreachable. size_t ci = 0; for (auto cl : m_pillar_clusters) { m_thr(); - + auto cidx = cl_centroids[ci++]; - - // TODO: don't consider the cluster centroid but calculate a - // central position where the pillar can be placed. this way - // the weight is distributed more effectively on the pillar. - - auto centerpillarID = m_builder.head_pillar(cidx).id; - - for (auto c : cl) { - m_thr(); - if (c == cidx) continue; - - auto &sidehead = m_builder.head(c); - sidehead.transform(); - - if (!connect_to_nearpillar(sidehead, centerpillarID) && - !search_pillar_and_connect(sidehead)) { - Vec3d pstart = sidehead.junction_point(); - // Vec3d pend = Vec3d{pstart(X), pstart(Y), gndlvl}; - // Could not find a pillar, create one - create_ground_pillar(pstart, sidehead.dir, pradius, sidehead.id); + + auto q = m_pillar_index.query(m_builder.head(cidx).junction_point(), 1); + if (!q.empty()) { + long centerpillarID = q.front().second; + for (auto c : cl) { + m_thr(); + if (c == cidx) continue; + + auto &sidehead = m_builder.head(c); + + if (!connect_to_nearpillar(sidehead, centerpillarID) && + !search_pillar_and_connect(sidehead)) { + Vec3d pstart = sidehead.junction_point(); + // Vec3d pend = Vec3d{pstart(X), pstart(Y), gndlvl}; + // Could not find a pillar, create one + create_ground_pillar(pstart, sidehead.dir, sidehead.r_back_mm, sidehead.id); + } } } } @@ -943,62 +895,66 @@ bool SupportTreeBuildsteps::connect_to_ground(Head &head, const Vec3d &dir) double r = head.r_back_mm; double t = bridge_mesh_distance(hjp, dir, head.r_back_mm); double d = 0, tdown = 0; - t = std::min(t, m_cfg.max_bridge_length_mm); + t = std::min(t, m_cfg.max_bridge_length_mm * r / m_cfg.head_back_radius_mm); while (d < t && !std::isinf(tdown = bridge_mesh_distance(hjp + d * dir, DOWN, r))) d += r; - + if(!std::isinf(tdown)) return false; - + Vec3d endp = hjp + d * dir; - m_builder.add_bridge(head.id, endp); - m_builder.add_junction(endp, head.r_back_mm); - - this->create_ground_pillar(endp, dir, head.r_back_mm); - - return true; + bool ret = false; + + if ((ret = create_ground_pillar(endp, dir, head.r_back_mm))) { + m_builder.add_bridge(head.id, endp); + m_builder.add_junction(endp, head.r_back_mm); + } + + return ret; } bool SupportTreeBuildsteps::connect_to_ground(Head &head) { if (connect_to_ground(head, head.dir)) return true; - + // Optimize bridge direction: // Straight path failed so we will try to search for a suitable // direction out of the cavity. auto [polar, azimuth] = dir_to_spheric(head.dir); - - StopCriteria stc; - stc.max_iterations = m_cfg.optimizer_max_iterations; - stc.relative_score_difference = m_cfg.optimizer_rel_score_diff; - stc.stop_score = 1e6; - GeneticOptimizer solver(stc); + + Optimizer<AlgNLoptGenetic> solver(get_criteria(m_cfg).stop_score(1e6)); solver.seed(0); // we want deterministic behavior - + double r_back = head.r_back_mm; - Vec3d hjp = head.junction_point(); - auto oresult = solver.optimize_max( - [this, hjp, r_back](double plr, double azm) { + Vec3d hjp = head.junction_point(); + auto oresult = solver.to_max().optimize( + [this, hjp, r_back](const opt::Input<2> &input) { + auto &[plr, azm] = input; Vec3d n = spheric_to_dir(plr, azm).normalized(); return bridge_mesh_distance(hjp, n, r_back); }, - initvals(polar, azimuth), // let's start with what we have - bound(3*PI/4, PI), // Must not exceed the slope limit - bound(-PI, PI) // azimuth can be a full range search - ); - + initvals({polar, azimuth}), // let's start with what we have + bounds({ {PI - m_cfg.bridge_slope, PI}, {-PI, PI} }) + ); + Vec3d bridgedir = spheric_to_dir(oresult.optimum).normalized(); return connect_to_ground(head, bridgedir); } bool SupportTreeBuildsteps::connect_to_model_body(Head &head) { - if (head.id <= ID_UNSET) return false; - + if (head.id <= SupportTreeNode::ID_UNSET) return false; + auto it = m_head_to_ground_scans.find(unsigned(head.id)); if (it == m_head_to_ground_scans.end()) return false; - + auto &hit = it->second; + + if (!hit.is_hit()) { + // TODO scan for potential anchor points on model surface + return false; + } + Vec3d hjp = head.junction_point(); double zangle = std::asin(hit.direction()(Z)); zangle = std::max(zangle, PI/4); @@ -1006,9 +962,11 @@ bool SupportTreeBuildsteps::connect_to_model_body(Head &head) // The width of the tail head that we would like to have... h = std::min(hit.distance() - head.r_back_mm, h); - - if(h <= 0.) return false; - + + // If this is a mini pillar dont bother with the tail width, can be 0. + if (head.r_back_mm < m_cfg.head_back_radius_mm) h = std::max(h, 0.); + else if (h <= 0.) return false; + Vec3d endp{hjp(X), hjp(Y), hjp(Z) - hit.distance() + h}; auto center_hit = m_mesh.query_ray_hit(hjp, DOWN); @@ -1016,13 +974,11 @@ bool SupportTreeBuildsteps::connect_to_model_body(Head &head) Vec3d hitp = std::abs(hitdiff) < 2*head.r_back_mm? center_hit.position() : hit.position(); - head.transform(); - - long pillar_id = m_builder.add_pillar(head.id, endp, head.r_back_mm); + long pillar_id = m_builder.add_pillar(head.id, hjp.z() - endp.z()); Pillar &pill = m_builder.pillar(pillar_id); Vec3d taildir = endp - hitp; - double dist = distance(endp, hitp) + m_cfg.head_penetration_mm; + double dist = (hitp - endp).norm() + m_cfg.head_penetration_mm; double w = dist - 2 * head.r_pin_mm - head.r_back_mm; if (w < 0.) { @@ -1030,43 +986,77 @@ bool SupportTreeBuildsteps::connect_to_model_body(Head &head) w = 0.; } - Head tailhead(head.r_back_mm, head.r_pin_mm, w, - m_cfg.head_penetration_mm, taildir, hitp); + m_builder.add_anchor(head.r_back_mm, head.r_pin_mm, w, + m_cfg.head_penetration_mm, taildir, hitp); - tailhead.transform(); - pill.base = tailhead.mesh; - m_pillar_index.guarded_insert(pill.endpoint(), pill.id); - + return true; } +bool SupportTreeBuildsteps::search_pillar_and_connect(const Head &source) +{ + // Hope that a local copy takes less time than the whole search loop. + // We also need to remove elements progressively from the copied index. + PointIndex spindex = m_pillar_index.guarded_clone(); + + long nearest_id = SupportTreeNode::ID_UNSET; + + Vec3d querypt = source.junction_point(); + + while(nearest_id < 0 && !spindex.empty()) { m_thr(); + // loop until a suitable head is not found + // if there is a pillar closer than the cluster center + // (this may happen as the clustering is not perfect) + // than we will bridge to this closer pillar + + Vec3d qp(querypt(X), querypt(Y), m_builder.ground_level); + auto qres = spindex.nearest(qp, 1); + if(qres.empty()) break; + + auto ne = qres.front(); + nearest_id = ne.second; + + if(nearest_id >= 0) { + if (size_t(nearest_id) < m_builder.pillarcount()) { + if(!connect_to_nearpillar(source, nearest_id) || + m_builder.pillar(nearest_id).r < source.r_back_mm) { + nearest_id = SupportTreeNode::ID_UNSET; // continue searching + spindex.remove(ne); // without the current pillar + } + } + } + } + + return nearest_id >= 0; +} + void SupportTreeBuildsteps::routing_to_model() -{ +{ // We need to check if there is an easy way out to the bed surface. // If it can be routed there with a bridge shorter than // min_bridge_distance. - ccr::enumerate(m_iheads_onmodel.begin(), m_iheads_onmodel.end(), - [this] (const unsigned idx, size_t) { + ccr::for_each(m_iheads_onmodel.begin(), m_iheads_onmodel.end(), + [this] (const unsigned idx) { m_thr(); - + auto& head = m_builder.head(idx); - + // Search nearby pillar - if(search_pillar_and_connect(head)) { head.transform(); return; } - + if (search_pillar_and_connect(head)) { return; } + // Cannot connect to nearby pillar. We will try to search for // a route to the ground. - if(connect_to_ground(head)) { head.transform(); return; } - + if (connect_to_ground(head)) { return; } + // No route to the ground, so connect to the model body as a last resort if (connect_to_model_body(head)) { return; } - + // We have failed to route this head. BOOST_LOG_TRIVIAL(warning) - << "Failed to route model facing support point. ID: " << idx; - + << "Failed to route model facing support point. ID: " << idx; + head.invalidate(); }); } @@ -1076,19 +1066,19 @@ void SupportTreeBuildsteps::interconnect_pillars() // Now comes the algorithm that connects pillars with each other. // Ideally every pillar should be connected with at least one of its // neighbors if that neighbor is within max_pillar_link_distance - + // Pillars with height exceeding H1 will require at least one neighbor // to connect with. Height exceeding H2 require two neighbors. double H1 = m_cfg.max_solo_pillar_height_mm; double H2 = m_cfg.max_dual_pillar_height_mm; double d = m_cfg.max_pillar_link_distance_mm; - + //A connection between two pillars only counts if the height ratio is // bigger than 50% double min_height_ratio = 0.5; - + std::set<unsigned long> pairs; - + // A function to connect one pillar with its neighbors. THe number of // neighbors is given in the configuration. This function if called // for every pillar in the pillar index. A pair of pillar will not @@ -1098,66 +1088,68 @@ void SupportTreeBuildsteps::interconnect_pillars() [this, d, &pairs, min_height_ratio, H1] (const PointIndexEl& el) { Vec3d qp = el.first; // endpoint of the pillar - + const Pillar& pillar = m_builder.pillar(el.second); // actual pillar - + // Get the max number of neighbors a pillar should connect to unsigned neighbors = m_cfg.pillar_cascade_neighbors; - + // connections are already enough for the pillar if(pillar.links >= neighbors) return; - + + double max_d = d * pillar.r / m_cfg.head_back_radius_mm; // Query all remaining points within reach - auto qres = m_pillar_index.query([qp, d](const PointIndexEl& e){ - return distance(e.first, qp) < d; + auto qres = m_pillar_index.query([qp, max_d](const PointIndexEl& e){ + return distance(e.first, qp) < max_d; }); - + // sort the result by distance (have to check if this is needed) std::sort(qres.begin(), qres.end(), [qp](const PointIndexEl& e1, const PointIndexEl& e2){ return distance(e1.first, qp) < distance(e2.first, qp); }); - + for(auto& re : qres) { // process the queried neighbors - + if(re.second == el.second) continue; // Skip self - + auto a = el.second, b = re.second; - + // Get unique hash for the given pair (order doesn't matter) auto hashval = pairhash(a, b); - + // Search for the pair amongst the remembered pairs if(pairs.find(hashval) != pairs.end()) continue; - + const Pillar& neighborpillar = m_builder.pillar(re.second); - + // this neighbor is occupied, skip - if(neighborpillar.links >= neighbors) continue; - + if (neighborpillar.links >= neighbors) continue; + if (neighborpillar.r < pillar.r) continue; + if(interconnect(pillar, neighborpillar)) { pairs.insert(hashval); - + // If the interconnection length between the two pillars is // less than 50% of the longer pillar's height, don't count if(pillar.height < H1 || neighborpillar.height / pillar.height > min_height_ratio) m_builder.increment_links(pillar); - + if(neighborpillar.height < H1 || pillar.height / neighborpillar.height > min_height_ratio) m_builder.increment_links(neighborpillar); - + } - + // connections are enough for one pillar if(pillar.links >= neighbors) break; } }; - + // Run the cascade for the pillars in the index m_pillar_index.foreach(cascadefn); - + // We would be done here if we could allow some pillars to not be // connected with any neighbors. But this might leave the support tree // unprintable. @@ -1165,16 +1157,16 @@ void SupportTreeBuildsteps::interconnect_pillars() // The current solution is to insert additional pillars next to these // lonely pillars. One or even two additional pillar might get inserted // depending on the length of the lonely pillar. - + size_t pillarcount = m_builder.pillarcount(); - + // Again, go through all pillars, this time in the whole support tree // not just the index. for(size_t pid = 0; pid < pillarcount; pid++) { auto pillar = [this, pid]() { return m_builder.pillar(pid); }; - + // Decide how many additional pillars will be needed: - + unsigned needpillars = 0; if (pillar().bridges > m_cfg.max_bridges_on_pillar) needpillars = 3; @@ -1185,28 +1177,28 @@ void SupportTreeBuildsteps::interconnect_pillars() // No neighbors could be found and the pillar is too long. needpillars = 1; } - + needpillars = std::max(pillar().links, needpillars) - pillar().links; if (needpillars == 0) continue; - + // Search for new pillar locations: - + bool found = false; double alpha = 0; // goes to 2Pi double r = 2 * m_cfg.base_radius_mm; Vec3d pillarsp = pillar().startpoint(); - + // temp value for starting point detection Vec3d sp(pillarsp(X), pillarsp(Y), pillarsp(Z) - r); - + // A vector of bool for placement feasbility std::vector<bool> canplace(needpillars, false); std::vector<Vec3d> spts(needpillars); // vector of starting points - + double gnd = m_builder.ground_level; double min_dist = m_cfg.pillar_base_safety_distance_mm + m_cfg.base_radius_mm + EPSILON; - + while(!found && alpha < 2*PI) { for (unsigned n = 0; n < needpillars && (!n || canplace[n - 1]); @@ -1217,36 +1209,38 @@ void SupportTreeBuildsteps::interconnect_pillars() s(X) += std::cos(a) * r; s(Y) += std::sin(a) * r; spts[n] = s; - + // Check the path vertically down Vec3d check_from = s + Vec3d{0., 0., pillar().r}; auto hr = bridge_mesh_intersect(check_from, DOWN, pillar().r); Vec3d gndsp{s(X), s(Y), gnd}; - + // If the path is clear, check for pillar base collisions canplace[n] = std::isinf(hr.distance()) && std::sqrt(m_mesh.squared_distance(gndsp)) > min_dist; } - + found = std::all_of(canplace.begin(), canplace.end(), [](bool v) { return v; }); - + // 20 angles will be tried... alpha += 0.1 * PI; } - + std::vector<long> newpills; newpills.reserve(needpillars); if (found) for (unsigned n = 0; n < needpillars; n++) { - Vec3d s = spts[n]; - Pillar p(s, Vec3d(s(X), s(Y), gnd), pillar().r); - p.add_base(m_cfg.base_height_mm, m_cfg.base_radius_mm); + Vec3d s = spts[n]; + Pillar p(Vec3d{s.x(), s.y(), gnd}, s.z() - gnd, pillar().r); if (interconnect(pillar(), p)) { Pillar &pp = m_builder.pillar(m_builder.add_pillar(p)); + + add_pillar_base(pp.id); + m_pillar_index.insert(pp.endpoint(), unsigned(pp.id)); m_builder.add_junction(s, pillar().r); @@ -1255,9 +1249,8 @@ void SupportTreeBuildsteps::interconnect_pillars() if (distance(pillarsp, s) < t) m_builder.add_bridge(pillarsp, s, pillar().r); - if (pillar().endpoint()(Z) > m_builder.ground_level) - m_builder.add_junction(pillar().endpoint(), - pillar().r); + if (pillar().endpoint()(Z) > m_builder.ground_level + pillar().r) + m_builder.add_junction(pillar().endpoint(), pillar().r); newpills.emplace_back(pp.id); m_builder.increment_links(pillar()); @@ -1275,51 +1268,10 @@ void SupportTreeBuildsteps::interconnect_pillars() m_builder.increment_links(nxpll); } } - - m_pillar_index.foreach(cascadefn); - } - } -} -void SupportTreeBuildsteps::routing_headless() -{ - // For now we will just generate smaller headless sticks with a sharp - // ending point that connects to the mesh surface. - - // We will sink the pins into the model surface for a distance of 1/3 of - // the pin radius - for(unsigned i : m_iheadless) { - m_thr(); - - const auto R = double(m_support_pts[i].head_front_radius); - const double HWIDTH_MM = m_cfg.head_penetration_mm; - - // Exact support position - Vec3d sph = m_support_pts[i].pos.cast<double>(); - Vec3d n = m_support_nmls.row(i); // mesh outward normal - Vec3d sp = sph - n * HWIDTH_MM; // stick head start point - - Vec3d sj = sp + R * n; // stick start point - - // This is only for checking - double idist = bridge_mesh_distance(sph, DOWN, R, true); - double realdist = ray_mesh_intersect(sj, DOWN).distance(); - double dist = realdist; - - if (std::isinf(dist)) dist = sph(Z) - m_builder.ground_level; - - if(std::isnan(idist) || idist < 2*R || std::isnan(dist) || dist < 2*R) { - BOOST_LOG_TRIVIAL(warning) << "Can not find route for headless" - << " support stick at: " - << sj.transpose(); - continue; + m_pillar_index.foreach(cascadefn); } - - bool use_endball = !std::isinf(realdist); - Vec3d ej = sj + (dist + HWIDTH_MM) * DOWN ; - m_builder.add_compact_bridge(sp, ej, n, R, use_endball); } } -} -} +}} // namespace Slic3r::sla |