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Diffstat (limited to 'src/libslic3r/SLA/SupportTreeIGL.cpp')
| -rw-r--r-- | src/libslic3r/SLA/SupportTreeIGL.cpp | 621 |
1 files changed, 0 insertions, 621 deletions
diff --git a/src/libslic3r/SLA/SupportTreeIGL.cpp b/src/libslic3r/SLA/SupportTreeIGL.cpp deleted file mode 100644 index ea2be6be1..000000000 --- a/src/libslic3r/SLA/SupportTreeIGL.cpp +++ /dev/null @@ -1,621 +0,0 @@ -#include <cmath> -#include "SLA/SLASupportTree.hpp" -#include "SLA/SLACommon.hpp" -#include "SLA/SLASpatIndex.hpp" - -// Workaround: IGL signed_distance.h will define PI in the igl namespace. -#undef PI - -// HEAVY headers... takes eternity to compile - -// for concave hull merging decisions -#include "SLABoostAdapter.hpp" -#include "boost/geometry/index/rtree.hpp" - -#ifdef _MSC_VER -#pragma warning(push) -#pragma warning(disable: 4244) -#pragma warning(disable: 4267) -#endif -#include <igl/ray_mesh_intersect.h> -#include <igl/point_mesh_squared_distance.h> -#include <igl/remove_duplicate_vertices.h> -#include <igl/signed_distance.h> -#ifdef _MSC_VER -#pragma warning(pop) -#endif - -#include <tbb/parallel_for.h> - -#include "SLASpatIndex.hpp" -#include "ClipperUtils.hpp" - -namespace Slic3r { -namespace sla { - -// Bring back PI from the igl namespace -using igl::PI; - -/* ************************************************************************** - * PointIndex implementation - * ************************************************************************** */ - -class PointIndex::Impl { -public: - using BoostIndex = boost::geometry::index::rtree< PointIndexEl, - boost::geometry::index::rstar<16, 4> /* ? */ >; - - BoostIndex m_store; -}; - -PointIndex::PointIndex(): m_impl(new Impl()) {} -PointIndex::~PointIndex() {} - -PointIndex::PointIndex(const PointIndex &cpy): m_impl(new Impl(*cpy.m_impl)) {} -PointIndex::PointIndex(PointIndex&& cpy): m_impl(std::move(cpy.m_impl)) {} - -PointIndex& PointIndex::operator=(const PointIndex &cpy) -{ - m_impl.reset(new Impl(*cpy.m_impl)); - return *this; -} - -PointIndex& PointIndex::operator=(PointIndex &&cpy) -{ - m_impl.swap(cpy.m_impl); - return *this; -} - -void PointIndex::insert(const PointIndexEl &el) -{ - m_impl->m_store.insert(el); -} - -bool PointIndex::remove(const PointIndexEl& el) -{ - return m_impl->m_store.remove(el) == 1; -} - -std::vector<PointIndexEl> -PointIndex::query(std::function<bool(const PointIndexEl &)> fn) const -{ - namespace bgi = boost::geometry::index; - - std::vector<PointIndexEl> ret; - m_impl->m_store.query(bgi::satisfies(fn), std::back_inserter(ret)); - return ret; -} - -std::vector<PointIndexEl> PointIndex::nearest(const Vec3d &el, unsigned k = 1) const -{ - namespace bgi = boost::geometry::index; - std::vector<PointIndexEl> ret; ret.reserve(k); - m_impl->m_store.query(bgi::nearest(el, k), std::back_inserter(ret)); - return ret; -} - -size_t PointIndex::size() const -{ - return m_impl->m_store.size(); -} - -void PointIndex::foreach(std::function<void (const PointIndexEl &)> fn) -{ - for(auto& el : m_impl->m_store) fn(el); -} - -void PointIndex::foreach(std::function<void (const PointIndexEl &)> fn) const -{ - for(const auto &el : m_impl->m_store) fn(el); -} - -/* ************************************************************************** - * BoxIndex implementation - * ************************************************************************** */ - -class BoxIndex::Impl { -public: - using BoostIndex = boost::geometry::index:: - rtree<BoxIndexEl, boost::geometry::index::rstar<16, 4> /* ? */>; - - BoostIndex m_store; -}; - -BoxIndex::BoxIndex(): m_impl(new Impl()) {} -BoxIndex::~BoxIndex() {} - -BoxIndex::BoxIndex(const BoxIndex &cpy): m_impl(new Impl(*cpy.m_impl)) {} -BoxIndex::BoxIndex(BoxIndex&& cpy): m_impl(std::move(cpy.m_impl)) {} - -BoxIndex& BoxIndex::operator=(const BoxIndex &cpy) -{ - m_impl.reset(new Impl(*cpy.m_impl)); - return *this; -} - -BoxIndex& BoxIndex::operator=(BoxIndex &&cpy) -{ - m_impl.swap(cpy.m_impl); - return *this; -} - -void BoxIndex::insert(const BoxIndexEl &el) -{ - m_impl->m_store.insert(el); -} - -bool BoxIndex::remove(const BoxIndexEl& el) -{ - return m_impl->m_store.remove(el) == 1; -} - -std::vector<BoxIndexEl> BoxIndex::query(const BoundingBox &qrbb, - BoxIndex::QueryType qt) -{ - namespace bgi = boost::geometry::index; - - std::vector<BoxIndexEl> ret; ret.reserve(m_impl->m_store.size()); - - switch (qt) { - case qtIntersects: - m_impl->m_store.query(bgi::intersects(qrbb), std::back_inserter(ret)); - break; - case qtWithin: - m_impl->m_store.query(bgi::within(qrbb), std::back_inserter(ret)); - } - - return ret; -} - -size_t BoxIndex::size() const -{ - return m_impl->m_store.size(); -} - -void BoxIndex::foreach(std::function<void (const BoxIndexEl &)> fn) -{ - for(auto& el : m_impl->m_store) fn(el); -} - -/* **************************************************************************** - * EigenMesh3D implementation - * ****************************************************************************/ - -class EigenMesh3D::AABBImpl: public igl::AABB<Eigen::MatrixXd, 3> { -public: -#ifdef SLIC3R_SLA_NEEDS_WINDTREE - igl::WindingNumberAABB<Vec3d, Eigen::MatrixXd, Eigen::MatrixXi> windtree; -#endif /* SLIC3R_SLA_NEEDS_WINDTREE */ -}; - -EigenMesh3D::EigenMesh3D(const TriangleMesh& tmesh): m_aabb(new AABBImpl()) { - static const double dEPS = 1e-6; - - const stl_file& stl = tmesh.stl; - - auto&& bb = tmesh.bounding_box(); - m_ground_level += bb.min(Z); - - Eigen::MatrixXd V; - Eigen::MatrixXi F; - - V.resize(3*stl.stats.number_of_facets, 3); - F.resize(stl.stats.number_of_facets, 3); - for (unsigned int i = 0; i < stl.stats.number_of_facets; ++i) { - const stl_facet &facet = stl.facet_start[i]; - V.block<1, 3>(3 * i + 0, 0) = facet.vertex[0].cast<double>(); - V.block<1, 3>(3 * i + 1, 0) = facet.vertex[1].cast<double>(); - V.block<1, 3>(3 * i + 2, 0) = facet.vertex[2].cast<double>(); - F(i, 0) = int(3*i+0); - F(i, 1) = int(3*i+1); - F(i, 2) = int(3*i+2); - } - - // We will convert this to a proper 3d mesh with no duplicate points. - Eigen::VectorXi SVI, SVJ; - igl::remove_duplicate_vertices(V, F, dEPS, m_V, SVI, SVJ, m_F); - - // Build the AABB accelaration tree - m_aabb->init(m_V, m_F); -#ifdef SLIC3R_SLA_NEEDS_WINDTREE - m_aabb->windtree.set_mesh(m_V, m_F); -#endif /* SLIC3R_SLA_NEEDS_WINDTREE */ -} - -EigenMesh3D::~EigenMesh3D() {} - -EigenMesh3D::EigenMesh3D(const EigenMesh3D &other): - m_V(other.m_V), m_F(other.m_F), m_ground_level(other.m_ground_level), - m_aabb( new AABBImpl(*other.m_aabb) ) {} - -EigenMesh3D::EigenMesh3D(const Contour3D &other) -{ - m_V.resize(Eigen::Index(other.points.size()), 3); - m_F.resize(Eigen::Index(other.faces3.size() + 2 * other.faces4.size()), 3); - - for (Eigen::Index i = 0; i < Eigen::Index(other.points.size()); ++i) - m_V.row(i) = other.points[size_t(i)]; - - for (Eigen::Index i = 0; i < Eigen::Index(other.faces3.size()); ++i) - m_F.row(i) = other.faces3[size_t(i)]; - - size_t N = other.faces3.size() + 2 * other.faces4.size(); - for (size_t i = other.faces3.size(); i < N; i += 2) { - size_t quad_idx = (i - other.faces3.size()) / 2; - auto & quad = other.faces4[quad_idx]; - m_F.row(Eigen::Index(i)) = Vec3i{quad(0), quad(1), quad(2)}; - m_F.row(Eigen::Index(i + 1)) = Vec3i{quad(2), quad(3), quad(0)}; - } -} - -EigenMesh3D &EigenMesh3D::operator=(const EigenMesh3D &other) -{ - m_V = other.m_V; - m_F = other.m_F; - m_ground_level = other.m_ground_level; - m_aabb.reset(new AABBImpl(*other.m_aabb)); return *this; -} - -EigenMesh3D::hit_result -EigenMesh3D::query_ray_hit(const Vec3d &s, const Vec3d &dir) const -{ - igl::Hit hit; - hit.t = std::numeric_limits<float>::infinity(); - m_aabb->intersect_ray(m_V, m_F, s, dir, hit); - - hit_result ret(*this); - ret.m_t = double(hit.t); - ret.m_dir = dir; - ret.m_source = s; - if(!std::isinf(hit.t) && !std::isnan(hit.t)) ret.m_face_id = hit.id; - - return ret; -} - -std::vector<EigenMesh3D::hit_result> -EigenMesh3D::query_ray_hits(const Vec3d &s, const Vec3d &dir) const -{ - std::vector<EigenMesh3D::hit_result> outs; - std::vector<igl::Hit> hits; - m_aabb->intersect_ray(m_V, m_F, s, dir, hits); - - // The sort is necessary, the hits are not always sorted. - std::sort(hits.begin(), hits.end(), - [](const igl::Hit& a, const igl::Hit& b) { return a.t < b.t; }); - - // Convert the igl::Hit into hit_result - outs.reserve(hits.size()); - for (const igl::Hit& hit : hits) { - outs.emplace_back(EigenMesh3D::hit_result(*this)); - outs.back().m_t = double(hit.t); - outs.back().m_dir = dir; - outs.back().m_source = s; - if(!std::isinf(hit.t) && !std::isnan(hit.t)) - outs.back().m_face_id = hit.id; - } - - return outs; -} - -#ifdef SLIC3R_SLA_NEEDS_WINDTREE -EigenMesh3D::si_result EigenMesh3D::signed_distance(const Vec3d &p) const { - double sign = 0; double sqdst = 0; int i = 0; Vec3d c; - igl::signed_distance_winding_number(*m_aabb, m_V, m_F, m_aabb->windtree, - p, sign, sqdst, i, c); - - return si_result(sign * std::sqrt(sqdst), i, c); -} - -bool EigenMesh3D::inside(const Vec3d &p) const { - return m_aabb->windtree.inside(p); -} -#endif /* SLIC3R_SLA_NEEDS_WINDTREE */ - -double EigenMesh3D::squared_distance(const Vec3d &p, int& i, Vec3d& c) const { - double sqdst = 0; - Eigen::Matrix<double, 1, 3> pp = p; - Eigen::Matrix<double, 1, 3> cc; - sqdst = m_aabb->squared_distance(m_V, m_F, pp, i, cc); - c = cc; - return sqdst; -} - -/* **************************************************************************** - * Misc functions - * ****************************************************************************/ - -namespace { - -bool point_on_edge(const Vec3d& p, const Vec3d& e1, const Vec3d& e2, - double eps = 0.05) -{ - using Line3D = Eigen::ParametrizedLine<double, 3>; - - auto line = Line3D::Through(e1, e2); - double d = line.distance(p); - return std::abs(d) < eps; -} - -template<class Vec> double distance(const Vec& pp1, const Vec& pp2) { - auto p = pp2 - pp1; - return std::sqrt(p.transpose() * p); -} - -} - -PointSet normals(const PointSet& points, - const EigenMesh3D& mesh, - double eps, - std::function<void()> thr, // throw on cancel - const std::vector<unsigned>& pt_indices) -{ - if(points.rows() == 0 || mesh.V().rows() == 0 || mesh.F().rows() == 0) - return {}; - - std::vector<unsigned> range = pt_indices; - if(range.empty()) { - range.resize(size_t(points.rows()), 0); - std::iota(range.begin(), range.end(), 0); - } - - PointSet ret(range.size(), 3); - -// for (size_t ridx = 0; ridx < range.size(); ++ridx) - tbb::parallel_for(size_t(0), range.size(), - [&ret, &range, &mesh, &points, thr, eps](size_t ridx) - { - thr(); - auto eidx = Eigen::Index(range[ridx]); - int faceid = 0; - Vec3d p; - - mesh.squared_distance(points.row(eidx), faceid, p); - - auto trindex = mesh.F().row(faceid); - - const Vec3d& p1 = mesh.V().row(trindex(0)); - const Vec3d& p2 = mesh.V().row(trindex(1)); - const Vec3d& p3 = mesh.V().row(trindex(2)); - - // We should check if the point lies on an edge of the hosting triangle. - // If it does then all the other triangles using the same two points - // have to be searched and the final normal should be some kind of - // aggregation of the participating triangle normals. We should also - // consider the cases where the support point lies right on a vertex - // of its triangle. The procedure is the same, get the neighbor - // triangles and calculate an average normal. - - // mark the vertex indices of the edge. ia and ib marks and edge ic - // will mark a single vertex. - int ia = -1, ib = -1, ic = -1; - - if(std::abs(distance(p, p1)) < eps) { - ic = trindex(0); - } - else if(std::abs(distance(p, p2)) < eps) { - ic = trindex(1); - } - else if(std::abs(distance(p, p3)) < eps) { - ic = trindex(2); - } - else if(point_on_edge(p, p1, p2, eps)) { - ia = trindex(0); ib = trindex(1); - } - else if(point_on_edge(p, p2, p3, eps)) { - ia = trindex(1); ib = trindex(2); - } - else if(point_on_edge(p, p1, p3, eps)) { - ia = trindex(0); ib = trindex(2); - } - - // vector for the neigboring triangles including the detected one. - std::vector<Vec3i> neigh; - if(ic >= 0) { // The point is right on a vertex of the triangle - for(int n = 0; n < mesh.F().rows(); ++n) { - thr(); - Vec3i ni = mesh.F().row(n); - if((ni(X) == ic || ni(Y) == ic || ni(Z) == ic)) - neigh.emplace_back(ni); - } - } - else if(ia >= 0 && ib >= 0) { // the point is on and edge - // now get all the neigboring triangles - for(int n = 0; n < mesh.F().rows(); ++n) { - thr(); - Vec3i ni = mesh.F().row(n); - if((ni(X) == ia || ni(Y) == ia || ni(Z) == ia) && - (ni(X) == ib || ni(Y) == ib || ni(Z) == ib)) - neigh.emplace_back(ni); - } - } - - // Calculate the normals for the neighboring triangles - std::vector<Vec3d> neighnorms; neighnorms.reserve(neigh.size()); - for(const Vec3i& tri : neigh) { - const Vec3d& pt1 = mesh.V().row(tri(0)); - const Vec3d& pt2 = mesh.V().row(tri(1)); - const Vec3d& pt3 = mesh.V().row(tri(2)); - Eigen::Vector3d U = pt2 - pt1; - Eigen::Vector3d V = pt3 - pt1; - neighnorms.emplace_back(U.cross(V).normalized()); - } - - // Throw out duplicates. They would cause trouble with summing. We will - // use std::unique which works on sorted ranges. We will sort by the - // coefficient-wise sum of the normals. It should force the same - // elements to be consecutive. - std::sort(neighnorms.begin(), neighnorms.end(), - [](const Vec3d& v1, const Vec3d& v2){ - return v1.sum() < v2.sum(); - }); - - auto lend = std::unique(neighnorms.begin(), neighnorms.end(), - [](const Vec3d& n1, const Vec3d& n2) { - // Compare normals for equivalence. This is controvers stuff. - auto deq = [](double a, double b) { return std::abs(a-b) < 1e-3; }; - return deq(n1(X), n2(X)) && deq(n1(Y), n2(Y)) && deq(n1(Z), n2(Z)); - }); - - if(!neighnorms.empty()) { // there were neighbors to count with - // sum up the normals and then normalize the result again. - // This unification seems to be enough. - Vec3d sumnorm(0, 0, 0); - sumnorm = std::accumulate(neighnorms.begin(), lend, sumnorm); - sumnorm.normalize(); - ret.row(long(ridx)) = sumnorm; - } - else { // point lies safely within its triangle - Eigen::Vector3d U = p2 - p1; - Eigen::Vector3d V = p3 - p1; - ret.row(long(ridx)) = U.cross(V).normalized(); - } - }); - - return ret; -} - -namespace bgi = boost::geometry::index; -using Index3D = bgi::rtree< PointIndexEl, bgi::rstar<16, 4> /* ? */ >; - -namespace { - -bool cmp_ptidx_elements(const PointIndexEl& e1, const PointIndexEl& e2) -{ - return e1.second < e2.second; -}; - -ClusteredPoints cluster(Index3D &sindex, - unsigned max_points, - std::function<std::vector<PointIndexEl>( - const Index3D &, const PointIndexEl &)> qfn) -{ - using Elems = std::vector<PointIndexEl>; - - // Recursive function for visiting all the points in a given distance to - // each other - std::function<void(Elems&, Elems&)> group = - [&sindex, &group, max_points, qfn](Elems& pts, Elems& cluster) - { - for(auto& p : pts) { - std::vector<PointIndexEl> tmp = qfn(sindex, p); - - std::sort(tmp.begin(), tmp.end(), cmp_ptidx_elements); - - Elems newpts; - std::set_difference(tmp.begin(), tmp.end(), - cluster.begin(), cluster.end(), - std::back_inserter(newpts), cmp_ptidx_elements); - - int c = max_points && newpts.size() + cluster.size() > max_points? - int(max_points - cluster.size()) : int(newpts.size()); - - cluster.insert(cluster.end(), newpts.begin(), newpts.begin() + c); - std::sort(cluster.begin(), cluster.end(), cmp_ptidx_elements); - - if(!newpts.empty() && (!max_points || cluster.size() < max_points)) - group(newpts, cluster); - } - }; - - std::vector<Elems> clusters; - for(auto it = sindex.begin(); it != sindex.end();) { - Elems cluster = {}; - Elems pts = {*it}; - group(pts, cluster); - - for(auto& c : cluster) sindex.remove(c); - it = sindex.begin(); - - clusters.emplace_back(cluster); - } - - ClusteredPoints result; - for(auto& cluster : clusters) { - result.emplace_back(); - for(auto c : cluster) result.back().emplace_back(c.second); - } - - return result; -} - -std::vector<PointIndexEl> distance_queryfn(const Index3D& sindex, - const PointIndexEl& p, - double dist, - unsigned max_points) -{ - std::vector<PointIndexEl> tmp; tmp.reserve(max_points); - sindex.query( - bgi::nearest(p.first, max_points), - std::back_inserter(tmp) - ); - - for(auto it = tmp.begin(); it < tmp.end(); ++it) - if(distance(p.first, it->first) > dist) it = tmp.erase(it); - - return tmp; -} - -} // namespace - -// Clustering a set of points by the given criteria -ClusteredPoints cluster( - const std::vector<unsigned>& indices, - std::function<Vec3d(unsigned)> pointfn, - double dist, - unsigned max_points) -{ - // A spatial index for querying the nearest points - Index3D sindex; - - // Build the index - for(auto idx : indices) sindex.insert( std::make_pair(pointfn(idx), idx)); - - return cluster(sindex, max_points, - [dist, max_points](const Index3D& sidx, const PointIndexEl& p) - { - return distance_queryfn(sidx, p, dist, max_points); - }); -} - -// Clustering a set of points by the given criteria -ClusteredPoints cluster( - const std::vector<unsigned>& indices, - std::function<Vec3d(unsigned)> pointfn, - std::function<bool(const PointIndexEl&, const PointIndexEl&)> predicate, - unsigned max_points) -{ - // A spatial index for querying the nearest points - Index3D sindex; - - // Build the index - for(auto idx : indices) sindex.insert( std::make_pair(pointfn(idx), idx)); - - return cluster(sindex, max_points, - [max_points, predicate](const Index3D& sidx, const PointIndexEl& p) - { - std::vector<PointIndexEl> tmp; tmp.reserve(max_points); - sidx.query(bgi::satisfies([p, predicate](const PointIndexEl& e){ - return predicate(p, e); - }), std::back_inserter(tmp)); - return tmp; - }); -} - -ClusteredPoints cluster(const PointSet& pts, double dist, unsigned max_points) -{ - // A spatial index for querying the nearest points - Index3D sindex; - - // Build the index - for(Eigen::Index i = 0; i < pts.rows(); i++) - sindex.insert(std::make_pair(Vec3d(pts.row(i)), unsigned(i))); - - return cluster(sindex, max_points, - [dist, max_points](const Index3D& sidx, const PointIndexEl& p) - { - return distance_queryfn(sidx, p, dist, max_points); - }); -} - -} // namespace sla -} // namespace Slic3r |