diff options
Diffstat (limited to 'xs/src/libslic3r/GCode.cpp')
| -rw-r--r-- | xs/src/libslic3r/GCode.cpp | 127 |
1 files changed, 61 insertions, 66 deletions
diff --git a/xs/src/libslic3r/GCode.cpp b/xs/src/libslic3r/GCode.cpp index 67a682d18..74a376ade 100644 --- a/xs/src/libslic3r/GCode.cpp +++ b/xs/src/libslic3r/GCode.cpp @@ -49,11 +49,11 @@ Polyline AvoidCrossingPerimeters::travel_to(const GCode &gcodegen, const Point & // If use_external, then perform the path planning in the world coordinate system (correcting for the gcodegen offset). // Otherwise perform the path planning in the coordinate system of the active object. bool use_external = this->use_external_mp || this->use_external_mp_once; - Point scaled_origin = use_external ? Point::new_scale(gcodegen.origin().x, gcodegen.origin().y) : Point(0, 0); + Point scaled_origin = use_external ? Point::new_scale(gcodegen.origin()(0), gcodegen.origin()(1)) : Point(0, 0); Polyline result = (use_external ? m_external_mp.get() : m_layer_mp.get())-> shortest_path(gcodegen.last_pos() + scaled_origin, point + scaled_origin); if (use_external) - result.translate(scaled_origin.negative()); + result.translate(- scaled_origin); return result; } @@ -64,8 +64,8 @@ std::string OozePrevention::pre_toolchange(GCode &gcodegen) // move to the nearest standby point if (!this->standby_points.empty()) { // get current position in print coordinates - Pointf3 writer_pos = gcodegen.writer().get_position(); - Point pos = Point::new_scale(writer_pos.x, writer_pos.y); + Vec3d writer_pos = gcodegen.writer().get_position(); + Point pos = Point::new_scale(writer_pos(0), writer_pos(1)); // find standby point Point standby_point; @@ -74,7 +74,7 @@ std::string OozePrevention::pre_toolchange(GCode &gcodegen) /* We don't call gcodegen.travel_to() because we don't need retraction (it was already triggered by the caller) nor avoid_crossing_perimeters and also because the coordinates of the destination point must not be transformed by origin nor current extruder offset. */ - gcode += gcodegen.writer().travel_to_xy(Pointf::new_unscale(standby_point), + gcode += gcodegen.writer().travel_to_xy(unscale(standby_point), "move to standby position"); } @@ -160,7 +160,7 @@ Wipe::wipe(GCode &gcodegen, bool toolchange) static inline Point wipe_tower_point_to_object_point(GCode &gcodegen, const WipeTower::xy &wipe_tower_pt) { - return Point(scale_(wipe_tower_pt.x - gcodegen.origin().x), scale_(wipe_tower_pt.y - gcodegen.origin().y)); + return Point(scale_(wipe_tower_pt.x - gcodegen.origin()(0)), scale_(wipe_tower_pt.y - gcodegen.origin()(1))); } std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::ToolChangeResult &tcr, int new_extruder_id) const @@ -207,7 +207,7 @@ std::string WipeTowerIntegration::append_tcr(GCode &gcodegen, const WipeTower::T check_add_eol(gcode); } // A phony move to the end position at the wipe tower. - gcodegen.writer().travel_to_xy(Pointf(end_pos.x, end_pos.y)); + gcodegen.writer().travel_to_xy(Vec2d(end_pos.x, end_pos.y)); gcodegen.set_last_pos(wipe_tower_point_to_object_point(gcodegen, end_pos)); // Prepare a future wipe. @@ -293,7 +293,7 @@ std::string WipeTowerIntegration::prime(GCode &gcodegen) gcodegen.writer().toolchange(current_extruder_id); gcodegen.placeholder_parser().set("current_extruder", current_extruder_id); // A phony move to the end position at the wipe tower. - gcodegen.writer().travel_to_xy(Pointf(m_priming.end_pos.x, m_priming.end_pos.y)); + gcodegen.writer().travel_to_xy(Vec2d(m_priming.end_pos.x, m_priming.end_pos.y)); gcodegen.set_last_pos(wipe_tower_point_to_object_point(gcodegen, m_priming.end_pos)); // Prepare a future wipe. gcodegen.m_wipe.path.points.clear(); @@ -325,7 +325,7 @@ std::string WipeTowerIntegration::tool_change(GCode &gcodegen, int extruder_id, std::string WipeTowerIntegration::finalize(GCode &gcodegen) { std::string gcode; - if (std::abs(gcodegen.writer().get_position().z - m_final_purge.print_z) > EPSILON) + if (std::abs(gcodegen.writer().get_position()(2) - m_final_purge.print_z) > EPSILON) gcode += gcodegen.change_layer(m_final_purge.print_z); gcode += append_tcr(gcodegen, m_final_purge, -1); return gcode; @@ -774,7 +774,7 @@ void GCode::_do_export(Print &print, FILE *file, GCodePreviewData *preview_data) for (const ExPolygon &expoly : layer->slices.expolygons) for (const Point © : object->_shifted_copies) { islands.emplace_back(expoly.contour); - islands.back().translate(copy); + islands.back().translate(- copy); } //FIXME Mege the islands in parallel. m_avoid_crossing_perimeters.init_external_mp(union_ex(islands)); @@ -790,9 +790,9 @@ void GCode::_do_export(Print &print, FILE *file, GCodePreviewData *preview_data) Polygon outer_skirt = Slic3r::Geometry::convex_hull(skirt_points); Polygons skirts; for (unsigned int extruder_id : print.extruders()) { - const Pointf &extruder_offset = print.config.extruder_offset.get_at(extruder_id); + const Vec2d &extruder_offset = print.config.extruder_offset.get_at(extruder_id); Polygon s(outer_skirt); - s.translate(-scale_(extruder_offset.x), -scale_(extruder_offset.y)); + s.translate(Point::new_scale(- extruder_offset(0), - extruder_offset(1))); skirts.emplace_back(std::move(s)); } m_ooze_prevention.enable = true; @@ -821,7 +821,7 @@ void GCode::_do_export(Print &print, FILE *file, GCodePreviewData *preview_data) // Print objects from the smallest to the tallest to avoid collisions // when moving onto next object starting point. std::vector<PrintObject*> objects(printable_objects); - std::sort(objects.begin(), objects.end(), [](const PrintObject* po1, const PrintObject* po2) { return po1->size.z < po2->size.z; }); + std::sort(objects.begin(), objects.end(), [](const PrintObject* po1, const PrintObject* po2) { return po1->size(2) < po2->size(2); }); size_t finished_objects = 0; for (size_t object_id = initial_print_object_id; object_id < objects.size(); ++ object_id) { const PrintObject &object = *objects[object_id]; @@ -838,7 +838,7 @@ void GCode::_do_export(Print &print, FILE *file, GCodePreviewData *preview_data) final_extruder_id = tool_ordering.last_extruder(); assert(final_extruder_id != (unsigned int)-1); } - this->set_origin(unscale(copy.x), unscale(copy.y)); + this->set_origin(unscale(copy)); if (finished_objects > 0) { // Move to the origin position for the copy we're going to print. // This happens before Z goes down to layer 0 again, so that no collision happens hopefully. @@ -947,7 +947,7 @@ void GCode::_do_export(Print &print, FILE *file, GCodePreviewData *preview_data) { DynamicConfig config; config.set_key_value("layer_num", new ConfigOptionInt(m_layer_index)); - config.set_key_value("layer_z", new ConfigOptionFloat(m_writer.get_position().z - m_config.z_offset.value)); + config.set_key_value("layer_z", new ConfigOptionFloat(m_writer.get_position()(2) - m_config.z_offset.value)); if (print.config.single_extruder_multi_material) { // Process the end_filament_gcode for the active filament only. _writeln(file, this->placeholder_parser_process("end_filament_gcode", print.config.end_filament_gcode.get_at(m_writer.extruder()->id()), m_writer.extruder()->id(), &config)); @@ -1403,8 +1403,8 @@ void GCode::process_layer( layer_surface_bboxes.push_back(get_extents(expoly.contour)); auto point_inside_surface = [&layer, &layer_surface_bboxes](const size_t i, const Point &point) { const BoundingBox &bbox = layer_surface_bboxes[i]; - return point.x >= bbox.min.x && point.x < bbox.max.x && - point.y >= bbox.min.y && point.y < bbox.max.y && + return point(0) >= bbox.min(0) && point(0) < bbox.max(0) && + point(1) >= bbox.min(1) && point(1) < bbox.max(1) && layer.slices.expolygons[i].contour.contains(point); }; @@ -1554,7 +1554,7 @@ void GCode::process_layer( if (m_last_obj_copy != this_object_copy) m_avoid_crossing_perimeters.use_external_mp_once = true; m_last_obj_copy = this_object_copy; - this->set_origin(unscale(copy.x), unscale(copy.y)); + this->set_origin(unscale(copy)); if (object_by_extruder.support != nullptr && !print_wipe_extrusions) { m_layer = layers[layer_id].support_layer; gcode += this->extrude_support( @@ -1639,14 +1639,14 @@ void GCode::set_extruders(const std::vector<unsigned int> &extruder_ids) } } -void GCode::set_origin(const Pointf &pointf) +void GCode::set_origin(const Vec2d &pointf) { // if origin increases (goes towards right), last_pos decreases because it goes towards left const Point translate( - scale_(m_origin.x - pointf.x), - scale_(m_origin.y - pointf.y) + scale_(m_origin(0) - pointf(0)), + scale_(m_origin(1) - pointf(1)) ); - m_last_pos.translate(translate); + m_last_pos += translate; m_wipe.path.translate(translate); m_origin = pointf; } @@ -1777,13 +1777,13 @@ static Points::iterator project_point_to_polygon_and_insert(Polygon &polygon, co j = 0; const Point &p1 = polygon.points[i]; const Point &p2 = polygon.points[j]; - const Slic3r::Point v_seg = p1.vector_to(p2); - const Slic3r::Point v_pt = p1.vector_to(pt); - const int64_t l2_seg = int64_t(v_seg.x) * int64_t(v_seg.x) + int64_t(v_seg.y) * int64_t(v_seg.y); - int64_t t_pt = int64_t(v_seg.x) * int64_t(v_pt.x) + int64_t(v_seg.y) * int64_t(v_pt.y); + const Slic3r::Point v_seg = p2 - p1; + const Slic3r::Point v_pt = pt - p1; + 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)); + int64_t t_pt = int64_t(v_seg(0)) * int64_t(v_pt(0)) + int64_t(v_seg(1)) * int64_t(v_pt(1)); if (t_pt < 0) { // Closest to p1. - double dabs = sqrt(int64_t(v_pt.x) * int64_t(v_pt.x) + int64_t(v_pt.y) * int64_t(v_pt.y)); + double dabs = sqrt(int64_t(v_pt(0)) * int64_t(v_pt(0)) + int64_t(v_pt(1)) * int64_t(v_pt(1))); if (dabs < d_min) { d_min = dabs; i_min = i; @@ -1796,7 +1796,7 @@ static Points::iterator project_point_to_polygon_and_insert(Polygon &polygon, co } else { // Closest to the segment. assert(t_pt >= 0 && t_pt <= l2_seg); - int64_t d_seg = int64_t(v_seg.y) * int64_t(v_pt.x) - int64_t(v_seg.x) * int64_t(v_pt.y); + int64_t d_seg = int64_t(v_seg(1)) * int64_t(v_pt(0)) - int64_t(v_seg(0)) * int64_t(v_pt(1)); double d = double(d_seg) / sqrt(double(l2_seg)); double dabs = std::abs(d); if (dabs < d_min) { @@ -1805,15 +1805,15 @@ static Points::iterator project_point_to_polygon_and_insert(Polygon &polygon, co // Evaluate the foot point. pt_min = p1; double linv = double(d_seg) / double(l2_seg); - pt_min.x = pt.x - coord_t(floor(double(v_seg.y) * linv + 0.5)); - pt_min.y = pt.y + coord_t(floor(double(v_seg.x) * linv + 0.5)); + pt_min(0) = pt(0) - coord_t(floor(double(v_seg(1)) * linv + 0.5)); + pt_min(1) = pt(1) + coord_t(floor(double(v_seg(0)) * linv + 0.5)); assert(Line(p1, p2).distance_to(pt_min) < scale_(1e-5)); } } } assert(i_min != size_t(-1)); - if (pt_min.distance_to(polygon.points[i_min]) > eps) { + if ((pt_min - polygon.points[i_min]).cast<double>().norm() > eps) { // Insert a new point on the segment i_min, i_min+1. return polygon.points.insert(polygon.points.begin() + (i_min + 1), pt_min); } @@ -1825,8 +1825,8 @@ std::vector<float> polygon_parameter_by_length(const Polygon &polygon) // Parametrize the polygon by its length. std::vector<float> lengths(polygon.points.size()+1, 0.); for (size_t i = 1; i < polygon.points.size(); ++ i) - lengths[i] = lengths[i-1] + float(polygon.points[i].distance_to(polygon.points[i-1])); - lengths.back() = lengths[lengths.size()-2] + float(polygon.points.front().distance_to(polygon.points.back())); + lengths[i] = lengths[i-1] + (polygon.points[i] - polygon.points[i-1]).cast<float>().norm(); + lengths.back() = lengths[lengths.size()-2] + (polygon.points.front() - polygon.points.back()).cast<float>().norm(); return lengths; } @@ -1874,10 +1874,10 @@ std::vector<float> polygon_angles_at_vertices(const Polygon &polygon, const std: const Point &p0 = polygon.points[idx_prev]; const Point &p1 = polygon.points[idx_curr]; const Point &p2 = polygon.points[idx_next]; - const Point v1 = p0.vector_to(p1); - const Point v2 = p1.vector_to(p2); - int64_t dot = int64_t(v1.x)*int64_t(v2.x) + int64_t(v1.y)*int64_t(v2.y); - int64_t cross = int64_t(v1.x)*int64_t(v2.y) - int64_t(v1.y)*int64_t(v2.x); + const Point v1 = p1 - p0; + const Point v2 = p2 - p1; + int64_t dot = int64_t(v1(0))*int64_t(v2(0)) + int64_t(v1(1))*int64_t(v2(1)); + int64_t cross = int64_t(v1(0))*int64_t(v2(1)) - int64_t(v1(1))*int64_t(v2(0)); float angle = float(atan2(double(cross), double(dot))); angles[idx_curr] = angle; } @@ -1901,10 +1901,10 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, dou { static int iRun = 0; BoundingBox bbox = (*lower_layer_edge_grid)->bbox(); - bbox.min.x -= scale_(5.f); - bbox.min.y -= scale_(5.f); - bbox.max.x += scale_(5.f); - bbox.max.y += scale_(5.f); + bbox.min(0) -= scale_(5.f); + bbox.min(1) -= scale_(5.f); + bbox.max(0) += scale_(5.f); + bbox.max(1) += scale_(5.f); EdgeGrid::save_png(*(*lower_layer_edge_grid), bbox, scale_(0.1f), debug_out_path("GCode_extrude_loop_edge_grid-%d.png", iRun++)); } #endif @@ -1940,7 +1940,7 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, dou break; case spRear: last_pos = m_layer->object()->bounding_box().center(); - last_pos.y += coord_t(3. * m_layer->object()->bounding_box().radius()); + last_pos(1) += coord_t(3. * m_layer->object()->bounding_box().radius()); last_pos_weight = 5.f; break; } @@ -2073,7 +2073,7 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, dou //FIXME Better parametrize the loop by its length. Polygon polygon = loop.polygon(); Point centroid = polygon.centroid(); - last_pos = Point(polygon.bounding_box().max.x, centroid.y); + last_pos = Point(polygon.bounding_box().max(0), centroid(1)); last_pos.rotate(fmod((float)rand()/16.0, 2.0*PI), centroid); } // Find the closest point, avoid overhangs. @@ -2130,19 +2130,17 @@ std::string GCode::extrude_loop(ExtrusionLoop loop, std::string description, dou // create the destination point along the first segment and rotate it // we make sure we don't exceed the segment length because we don't know // the rotation of the second segment so we might cross the object boundary - Line first_segment( - paths.front().polyline.points[0], - paths.front().polyline.points[1] - ); - double distance = std::min<double>( - scale_(EXTRUDER_CONFIG(nozzle_diameter)), - first_segment.length() - ); - Point point = first_segment.point_at(distance); - point.rotate(angle, first_segment.a); - + Vec2d p1 = paths.front().polyline.points.front().cast<double>(); + Vec2d p2 = paths.front().polyline.points[1].cast<double>(); + Vec2d v = p2 - p1; + double nd = scale_(EXTRUDER_CONFIG(nozzle_diameter)); + double l2 = v.squaredNorm(); + // Shift by no more than a nozzle diameter. + //FIXME Hiding the seams will not work nicely for very densely discretized contours! + Point pt = ((nd * nd >= l2) ? p2 : (p1 + v * (nd / sqrt(l2)))).cast<coord_t>(); + pt.rotate(angle, paths.front().polyline.points.front()); // generate the travel move - gcode += m_writer.travel_to_xy(this->point_to_gcode(point), "move inwards before travel"); + gcode += m_writer.travel_to_xy(this->point_to_gcode(pt), "move inwards before travel"); } return gcode; @@ -2312,7 +2310,7 @@ std::string GCode::_extrude(const ExtrusionPath &path, std::string description, std::string gcode; // go to first point of extrusion path - if (!m_last_pos_defined || !m_last_pos.coincides_with(path.first_point())) { + if (!m_last_pos_defined || m_last_pos != path.first_point()) { gcode += this->travel_to( path.first_point(), path.role(), @@ -2627,24 +2625,21 @@ std::string GCode::set_extruder(unsigned int extruder_id) } // convert a model-space scaled point into G-code coordinates -Pointf GCode::point_to_gcode(const Point &point) const +Vec2d GCode::point_to_gcode(const Point &point) const { - Pointf extruder_offset = EXTRUDER_CONFIG(extruder_offset); - return Pointf( - unscale(point.x) + m_origin.x - extruder_offset.x, - unscale(point.y) + m_origin.y - extruder_offset.y); + Vec2d extruder_offset = EXTRUDER_CONFIG(extruder_offset); + return unscale(point) + m_origin - extruder_offset; } // convert a model-space scaled point into G-code coordinates -Point GCode::gcode_to_point(const Pointf &point) const +Point GCode::gcode_to_point(const Vec2d &point) const { - Pointf extruder_offset = EXTRUDER_CONFIG(extruder_offset); + Vec2d extruder_offset = EXTRUDER_CONFIG(extruder_offset); return Point( - scale_(point.x - m_origin.x + extruder_offset.x), - scale_(point.y - m_origin.y + extruder_offset.y)); + scale_(point(0) - m_origin(0) + extruder_offset(0)), + scale_(point(1) - m_origin(1) + extruder_offset(1))); } - // Goes through by_region std::vector and returns reference to a subvector of entities, that are to be printed // during infill/perimeter wiping, or normally (depends on wiping_entities parameter) // Returns a reference to member to avoid copying. |