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|
#include "SeamPlacer.hpp"
#include "libslic3r/ExtrusionEntity.hpp"
#include "libslic3r/Print.hpp"
#include "libslic3r/Layer.hpp"
#include "libslic3r/BoundingBox.hpp"
#include "libslic3r/EdgeGrid.hpp"
#include "libslic3r/ClipperUtils.hpp"
#include "libslic3r/SVG.hpp"
#include "libslic3r/Layer.hpp"
namespace Slic3r {
// This penalty is added to all points inside custom blockers (subtracted from pts inside enforcers).
static constexpr float ENFORCER_BLOCKER_PENALTY = 100;
// In case there are custom enforcers/blockers, the loop polygon shall always have
// sides smaller than this (so it isn't limited to original resolution).
static constexpr float MINIMAL_POLYGON_SIDE = scaled<float>(0.2f);
// When spAligned is active and there is a support enforcer,
// add this penalty to its center.
static constexpr float ENFORCER_CENTER_PENALTY = -10.f;
// This function was introduced in 2016 to assign penalties to overhangs.
// LukasM thinks that it discriminated a bit too much, so especially external
// seams were than placed in funny places (non-overhangs were preferred too much).
// He implemented his own version (below) which applies fixed penalty for really big overlaps.
// static float extrudate_overlap_penalty(float nozzle_r, float weight_zero, float overlap_distance)
// {
// // The extrudate is not fully supported by the lower layer. Fit a polynomial penalty curve.
// // Solved by sympy package:
// /*
// from sympy import *
// (x,a,b,c,d,r,z)=symbols('x a b c d r z')
// p = a + b*x + c*x*x + d*x*x*x
// p2 = p.subs(solve([p.subs(x, -r), p.diff(x).subs(x, -r), p.diff(x,x).subs(x, -r), p.subs(x, 0)-z], [a, b, c, d]))
// from sympy.plotting import plot
// plot(p2.subs(r,0.2).subs(z,1.), (x, -1, 3), adaptive=False, nb_of_points=400)
// */
// if (overlap_distance < - nozzle_r) {
// // The extrudate is fully supported by the lower layer. This is the ideal case, therefore zero penalty.
// return 0.f;
// } else {
// float x = overlap_distance / nozzle_r;
// float x2 = x * x;
// float x3 = x2 * x;
// return weight_zero * (1.f + 3.f * x + 3.f * x2 + x3);
// }
// }
static float extrudate_overlap_penalty(float nozzle_r, float weight_zero, float overlap_distance)
{
return overlap_distance > nozzle_r ? weight_zero : 0.f;
}
// Return a value in <0, 1> of a cubic B-spline kernel centered around zero.
// The B-spline is re-scaled so it has value 1 at zero.
// 0 -> 1 ; ~0.465 -> 0.75 ; ~0.72 -> 0.5 ; 1 -> 0.25 ; ~1.23 -> 0.125 ; 2+ -> 0
static inline float bspline_kernel(float x)
{
x = std::abs(x);
if (x < 1.f) {
return 1.f - (3.f / 2.f) * x * x + (3.f / 4.f) * x * x * x;
}
else if (x < 2.f) {
x -= 1.f;
float x2 = x * x;
float x3 = x2 * x;
return (1.f / 4.f) - (3.f / 4.f) * x + (3.f / 4.f) * x2 - (1.f / 4.f) * x3;
}
else
return 0;
}
static Points::const_iterator project_point_to_polygon_and_insert(Polygon &polygon, const Point &pt, double eps)
{
assert(polygon.points.size() >= 2);
if (polygon.points.size() <= 1)
if (polygon.points.size() == 1)
return polygon.points.begin();
Point pt_min;
double d_min = std::numeric_limits<double>::max();
size_t i_min = size_t(-1);
for (size_t i = 0; i < polygon.points.size(); ++ i) {
size_t j = i + 1;
if (j == polygon.points.size())
j = 0;
const Point &p1 = polygon.points[i];
const Point &p2 = polygon.points[j];
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(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;
pt_min = p1;
}
}
else if (t_pt > l2_seg) {
// Closest to p2. Then p2 is the starting point of another segment, which shall be discovered in the next step.
continue;
} else {
// Closest to the segment.
assert(t_pt >= 0 && t_pt <= l2_seg);
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) {
d_min = dabs;
i_min = i;
// Evaluate the foot point.
pt_min = p1;
double linv = double(d_seg) / double(l2_seg);
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 - 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);
}
return polygon.points.begin() + i_min;
}
static std::vector<float> polygon_angles_at_vertices(const Polygon &polygon, const std::vector<float> &lengths, float min_arm_length)
{
assert(polygon.points.size() + 1 == lengths.size());
if (min_arm_length > 0.25f * lengths.back())
min_arm_length = 0.25f * lengths.back();
// Find the initial prev / next point span.
size_t idx_prev = polygon.points.size();
size_t idx_curr = 0;
size_t idx_next = 1;
while (idx_prev > idx_curr && lengths.back() - lengths[idx_prev] < min_arm_length)
-- idx_prev;
while (idx_next < idx_prev && lengths[idx_next] < min_arm_length)
++ idx_next;
std::vector<float> angles(polygon.points.size(), 0.f);
for (; idx_curr < polygon.points.size(); ++ idx_curr) {
// Move idx_prev up until the distance between idx_prev and idx_curr is lower than min_arm_length.
if (idx_prev >= idx_curr) {
while (idx_prev < polygon.points.size() && lengths.back() - lengths[idx_prev] + lengths[idx_curr] > min_arm_length)
++ idx_prev;
if (idx_prev == polygon.points.size())
idx_prev = 0;
}
while (idx_prev < idx_curr && lengths[idx_curr] - lengths[idx_prev] > min_arm_length)
++ idx_prev;
// Move idx_prev one step back.
if (idx_prev == 0)
idx_prev = polygon.points.size() - 1;
else
-- idx_prev;
// Move idx_next up until the distance between idx_curr and idx_next is greater than min_arm_length.
if (idx_curr <= idx_next) {
while (idx_next < polygon.points.size() && lengths[idx_next] - lengths[idx_curr] < min_arm_length)
++ idx_next;
if (idx_next == polygon.points.size())
idx_next = 0;
}
while (idx_next < idx_curr && lengths.back() - lengths[idx_curr] + lengths[idx_next] < min_arm_length)
++ idx_next;
// Calculate angle between idx_prev, idx_curr, idx_next.
const Point &p0 = polygon.points[idx_prev];
const Point &p1 = polygon.points[idx_curr];
const Point &p2 = polygon.points[idx_next];
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;
}
return angles;
}
void SeamPlacer::init(const Print& print)
{
m_enforcers.clear();
m_blockers.clear();
m_seam_history.clear();
m_po_list.clear();
const std::vector<double>& nozzle_dmrs = print.config().nozzle_diameter.values;
float max_nozzle_dmr = *std::max_element(nozzle_dmrs.begin(), nozzle_dmrs.end());
std::vector<ExPolygons> temp_enf;
std::vector<ExPolygons> temp_blk;
std::vector<Polygons> temp_polygons;
for (const PrintObject* po : print.objects()) {
auto merge_and_offset = [po, &temp_polygons, max_nozzle_dmr](EnforcerBlockerType type, std::vector<ExPolygons>& out) {
// Offset the triangles out slightly.
auto offset_out = [](Polygon& input, float offset) -> ExPolygons {
ClipperLib::Paths out(1);
std::vector<float> deltas(input.points.size(), offset);
input.make_counter_clockwise();
out.front() = mittered_offset_path_scaled(input.points, deltas, 3.);
return ClipperPaths_to_Slic3rExPolygons(out, true); // perform union
};
temp_polygons.clear();
po->project_and_append_custom_facets(true, type, temp_polygons);
out.clear();
out.reserve(temp_polygons.size());
float offset = scale_(max_nozzle_dmr - po->config().first_layer_size_compensation);
for (Polygons &src : temp_polygons) {
out.emplace_back(ExPolygons());
for (Polygon& plg : src) {
ExPolygons offset_explg = offset_out(plg, offset);
if (! offset_explg.empty())
out.back().emplace_back(std::move(offset_explg.front()));
}
offset = scale_(max_nozzle_dmr);
}
};
merge_and_offset(EnforcerBlockerType::BLOCKER, temp_blk);
merge_and_offset(EnforcerBlockerType::ENFORCER, temp_enf);
// Remember this PrintObject and initialize a store of enforcers and blockers for it.
m_po_list.push_back(po);
size_t po_idx = m_po_list.size() - 1;
m_enforcers.emplace_back(std::vector<CustomTrianglesPerLayer>(temp_enf.size()));
m_blockers.emplace_back(std::vector<CustomTrianglesPerLayer>(temp_blk.size()));
// A helper class to store data to build the AABB tree from.
class CustomTriangleRef {
public:
CustomTriangleRef(size_t idx,
Point&& centroid,
BoundingBox&& bb)
: m_idx{idx}, m_centroid{centroid},
m_bbox{AlignedBoxType(bb.min, bb.max)}
{}
size_t idx() const { return m_idx; }
const Point& centroid() const { return m_centroid; }
const TreeType::BoundingBox& bbox() const { return m_bbox; }
private:
size_t m_idx;
Point m_centroid;
AlignedBoxType m_bbox;
};
// A lambda to extract the ExPolygons and save them into the member AABB tree.
// Will be called for enforcers and blockers separately.
auto add_custom = [](std::vector<ExPolygons>& src, std::vector<CustomTrianglesPerLayer>& dest) {
// Go layer by layer, and append all the ExPolygons into the AABB tree.
size_t layer_idx = 0;
for (ExPolygons& expolys_on_layer : src) {
CustomTrianglesPerLayer& layer_data = dest[layer_idx];
std::vector<CustomTriangleRef> triangles_data;
layer_data.polys.reserve(expolys_on_layer.size());
triangles_data.reserve(expolys_on_layer.size());
for (ExPolygon& expoly : expolys_on_layer) {
if (expoly.empty())
continue;
layer_data.polys.emplace_back(std::move(expoly));
triangles_data.emplace_back(layer_data.polys.size() - 1,
layer_data.polys.back().centroid(),
layer_data.polys.back().bounding_box());
}
// All polygons are saved, build the AABB tree for them.
layer_data.tree.build(std::move(triangles_data));
++layer_idx;
}
};
add_custom(temp_enf, m_enforcers.at(po_idx));
add_custom(temp_blk, m_blockers.at(po_idx));
}
this->external_perimeters_first = print.default_region_config().external_perimeters_first;
}
void SeamPlacer::plan_perimeters(const std::vector<const ExtrusionEntity*> perimeters,
const Layer& layer, SeamPosition seam_position,
Point last_pos, coordf_t nozzle_dmr, const PrintObject* po,
const uint16_t print_object_instance_idx,
const EdgeGrid::Grid* lower_layer_edge_grid)
{
// When printing the perimeters, we want the seams on external and internal perimeters to match.
// We have a list of perimeters in the order to be printed. Each internal perimeter must inherit
// the seam from the previous external perimeter.
m_plan.clear();
m_plan_idx = 0;
if (perimeters.empty() || ! po)
return;
m_plan.resize(perimeters.size());
for (int i = 0; i < int(perimeters.size()); ++i) {
if (perimeters[i]->role() == erExternalPerimeter && perimeters[i]->is_loop()) {
last_pos = this->calculate_seam(
layer,
seam_position,
*dynamic_cast<const ExtrusionLoop*>(perimeters[i]),
nozzle_dmr,
po,
print_object_instance_idx,
lower_layer_edge_grid,
last_pos,
false);
/* calculate_seam(
const Layer& layer,
const SeamPosition seam_position,
const ExtrusionLoop& loop,
coordf_t nozzle_dmr,
const PrintObject* po,
const uint16_t print_object_instance_idx,
const EdgeGrid::Grid* lower_layer_edge_grid,
Point last_pos
bool prefer_nearest) */
m_plan[i].external = true;
}
m_plan[i].seam_position = seam_position;
m_plan[i].layer = &layer;
m_plan[i].po = po;
m_plan[i].pt = last_pos;
}
}
void SeamPlacer::place_seam(ExtrusionLoop& loop, const Point& last_pos, bool external_first, double nozzle_diameter,
const uint16_t print_object_instance_idx, const EdgeGrid::Grid* lower_layer_edge_grid)
{
// const double seam_offset = nozzle_diameter;
Point seam = last_pos;
if (! m_plan.empty() && m_plan_idx < m_plan.size()) {
if (m_plan[m_plan_idx].external) {
seam = m_plan[m_plan_idx].pt;
// One more heuristics: if the seam is too far from current nozzle position,
// try to place it again. This can happen in cases where the external perimeter
// does not belong to the preceding ones and they are ordered so they end up
// far from each other.
if ((seam.cast<double>() - last_pos.cast<double>()).squaredNorm() > std::pow(scale_(5.*nozzle_diameter), 2.))
seam = this->calculate_seam(*m_plan[m_plan_idx].layer, m_plan[m_plan_idx].seam_position, loop, nozzle_diameter,
m_plan[m_plan_idx].po, print_object_instance_idx, lower_layer_edge_grid, last_pos, false);
if (loop.role() == erExternalPerimeter /*m_plan[m_plan_idx].seam_position == spAligned*/)
m_seam_history.add_seam(m_plan[m_plan_idx].po, m_plan[m_plan_idx].pt, loop.polygon().bounding_box()); }
else {
if (!external_first) {
// Internal perimeter printed before the external.
// First get list of external seams.
std::vector<size_t> ext_seams;
size_t external_cnt = 0;
for (size_t i = 0; i < m_plan.size(); ++i) {
if (m_plan[i].external) {
ext_seams.emplace_back(i);
++external_cnt;
}
}
if (!ext_seams.empty()) {
// First find the line segment closest to an external seam:
//int path_idx = 0;
//int line_idx = 0;
size_t ext_seam_idx = size_t(-1);
double min_dist_sqr = std::numeric_limits<double>::max();
std::vector<Lines> lines_vect;
for (int i = 0; i < int(loop.paths.size()); ++i) {
lines_vect.emplace_back(loop.paths[i].polyline.lines());
const Lines& lines = lines_vect.back();
for (int j = 0; j < int(lines.size()); ++j) {
for (size_t k : ext_seams) {
double d_sqr = lines[j].distance_to_squared(m_plan[k].pt);
if (d_sqr < min_dist_sqr) {
//path_idx = i;
//line_idx = j;
ext_seam_idx = k;
min_dist_sqr = d_sqr;
}
}
}
}
// Only accept seam that is reasonably close.
if (ext_seam_idx != size_t(-1)) {
// How many nozzle diameters is considered "close"?
const double nozzle_d_limit = 2. * (1. + m_plan.size() / external_cnt);
const double limit_dist_sqr = double(scale_(scale_((unscale(m_plan[ext_seam_idx].pt) - unscale(m_plan[m_plan_idx].pt)).squaredNorm() * std::pow(nozzle_d_limit * nozzle_diameter, 2.))));
if (min_dist_sqr < limit_dist_sqr) {
// Now find a projection of the external seam
//const Lines& lines = lines_vect[path_idx];
//Point closest = m_plan[ext_seam_idx].pt.projection_onto(lines[line_idx]);
// This code does staggering of internal perimeters, turned off for now.
//
// double dist = (closest.cast<double>() - lines[line_idx].b.cast<double>()).norm();
//
// // And walk along the perimeter until we make enough space for
// // seams of all perimeters beforethe external one.
// double offset = (ext_seam_idx - m_plan_idx) * scale_(seam_offset);
// double last_offset = offset;
// offset -= dist;
// const Point* a = &closest;
// const Point* b = &lines[line_idx].b;
// while (++line_idx < int(lines.size()) && offset > 0.) {
// last_offset = offset;
// offset -= lines[line_idx].length();
// a = &lines[line_idx].a;
// b = &lines[line_idx].b;
// }
//
// // We have walked far enough, too far maybe. Interpolate on the
// // last segment to find the end precisely.
// offset = std::min(0., offset); // In case that offset is still positive (we may have "wrapped around")
// double ratio = last_offset / (last_offset - offset);
// seam = (a->cast<double>() + ((b->cast<double>() - a->cast<double>()) * ratio)).cast<coord_t>();
seam = m_plan[ext_seam_idx].pt;
}
}
}
}
else {
// We should have a candidate ready from before. If not, use last_pos.
if (m_plan_idx > 0 && m_plan[m_plan_idx - 1].precalculated)
seam = m_plan[m_plan_idx - 1].pt;
}
// seam now contains a hot candidate for internal seam. Use it unless there is a sharp corner nearby.
// We will call the normal seam planning function, pretending that we are currently at the candidate point
// and set to spNearest. If the ideal seam it finds is close to current candidate, use it.
// This is to prevent having seams very close to corners, just because of external seam position.
seam = calculate_seam(*m_plan[m_plan_idx].layer, spNearest, loop, nozzle_diameter,
m_plan[m_plan_idx].po, print_object_instance_idx, lower_layer_edge_grid, seam, true);
}
m_plan[m_plan_idx].pt = seam;
}
// Split the loop at the point with a minium penalty.
if (!loop.split_at_vertex(seam))
// The point is not in the original loop. Insert it.
loop.split_at(seam, true);
if (external_first && m_plan_idx+1<m_plan.size() && ! m_plan[m_plan_idx+1].external) {
// This code does staggering of internal perimeters, turned off for now.
// Next perimeter should start near this one.
// const double dist_sqr = std::pow(double(scale_(seam_offset)), 2.);
// double running_sqr = 0.;
// double running_sqr_last = 0.;
// if (!loop.paths.empty() && loop.paths.back().polyline.points.size() > 1) {
// const ExtrusionPath& last = loop.paths.back();
// auto it = last.polyline.points.crbegin() + 1;
// for (; it != last.polyline.points.crend(); ++it) {
// running_sqr += (it->cast<double>() - (it - 1)->cast<double>()).squaredNorm();
// if (running_sqr > dist_sqr)
// break;
// running_sqr_last = running_sqr;
// }
// if (running_sqr <= dist_sqr)
// it = last.polyline.points.crend() - 1;
// // Now interpolate.
// double ratio = (std::sqrt(dist_sqr) - std::sqrt(running_sqr_last)) / (std::sqrt(running_sqr) - std::sqrt(running_sqr_last));
// m_plan[m_plan_idx + 1].pt = ((it - 1)->cast<double>() + (it->cast<double>() - (it - 1)->cast<double>()) * std::min(ratio, 1.)).cast<coord_t>();
// m_plan[m_plan_idx + 1].precalculated = true;
m_plan[m_plan_idx + 1].pt = m_plan[m_plan_idx].pt;
m_plan[m_plan_idx + 1].precalculated = true;
// }
}
++m_plan_idx;
}
// Returns "best" seam for a given perimeter.
Point SeamPlacer::calculate_seam(const Layer& layer, SeamPosition seam_position,
const ExtrusionLoop& loop, coordf_t nozzle_dmr, const PrintObject* po,
const uint16_t print_object_instance_idx,
const EdgeGrid::Grid* lower_layer_edge_grid, Point last_pos, bool prefer_nearest)
{
Polygon polygon = loop.polygon();
bool was_clockwise = polygon.make_counter_clockwise();
const coord_t nozzle_r = coord_t(scale_(0.5 * nozzle_dmr) + 0.5);
float last_pos_weight = 1.f;
float angle_weight = 1.f;
size_t po_idx = std::find(m_po_list.begin(), m_po_list.end(), po) - m_po_list.begin();
// Find current layer in respective PrintObject. Cache the result so the
// lookup is only done once per layer, not for each loop.
const Layer* layer_po = nullptr;
if (po == m_last_po && layer.print_z == m_last_print_z)
layer_po = m_last_layer_po;
else {
layer_po = po ? po->get_layer_at_printz(layer.print_z) : nullptr;
m_last_po = po;
m_last_print_z = layer.print_z;
m_last_layer_po = layer_po;
}
if (! layer_po)
return last_pos;
// Index of this layer in the respective PrintObject.
size_t layer_idx = layer_po->id() - po->layers().front()->id(); // raft layers
assert(layer_idx < po->layer_count());
const bool custom_seam = loop.role() == erExternalPerimeter && this->is_custom_seam_on_layer(layer_idx, po_idx);
if (custom_seam) {
// Seam enf/blockers can begin and end in between the original vertices.
// Let add extra points in between and update the leghths.
polygon.densify(MINIMAL_POLYGON_SIDE);
}
bool has_seam_custom = false;
if(print_object_instance_idx < po->instances().size())
for (ModelVolume* v : po->model_object()->volumes)
if (v->is_seam_position()) {
has_seam_custom = true;
break;
}
if (has_seam_custom) {
// Look for all lambda-seam-modifiers below current z, choose the highest one
ModelVolume* v_lambda_seam = nullptr;
Vec3d lambda_pos;
double lambda_dist;
double lambda_radius;
//get model_instance (like from po->model_object()->instances, but we don't have the index for that array)
const ModelInstance* model_instance = po->instances()[print_object_instance_idx].model_instance;
for (ModelVolume* v : po->model_object()->volumes) {
if (v->is_seam_position()) {
//xy in object coordinates, z in plater coordinates
Vec3d test_lambda_pos = model_instance->transform_vector(v->get_offset(), true);
Point xy_lambda(scale_(test_lambda_pos.x()), scale_(test_lambda_pos.y()));
Point nearest = polygon.point_projection(xy_lambda);
Vec3d polygon_3dpoint{ unscaled(nearest.x()), unscaled(nearest.y()), (double)layer.print_z };
double test_lambda_dist = (polygon_3dpoint - test_lambda_pos).norm();
double sphere_radius = po->model_object()->instance_bounding_box(0, true).size().x() / 2;
//if (test_lambda_dist > sphere_radius)
// continue;
//use this one if the first or nearer (in z)
if (v_lambda_seam == nullptr || lambda_dist > test_lambda_dist) {
v_lambda_seam = v;
lambda_pos = test_lambda_pos;
lambda_radius = sphere_radius;
lambda_dist = test_lambda_dist;
}
}
}
if (v_lambda_seam != nullptr) {
lambda_pos = model_instance->transform_vector(v_lambda_seam->get_offset(), true);
// Found, get the center point and apply rotation and scaling of Model instance. Continues to spAligned if not found or Weight set to Zero.
last_pos = Point::new_scale(lambda_pos.x(), lambda_pos.y());
// Weight is set by user and stored in the radius of the sphere
last_pos_weight = std::max(0.0, std::round(100 * (lambda_radius)));
if (last_pos_weight > 0.0)
seam_position = spCustom;
}
}
if (seam_position != spRandom) {
// Retrieve the last start position for this object.
double travel_cost = 1;
if (seam_position == spAligned) {
// Seam is aligned to the seam at the preceding layer.
if (po != nullptr) {
std::optional<Point> pos = m_seam_history.get_last_seam(m_po_list[po_idx], layer_po->print_z, loop.polygon().bounding_box());
if (pos.has_value()) {
last_pos = *pos;
}
// TODO: check why i put it out of the if
last_pos_weight = is_custom_enforcer_on_layer(layer_idx, po_idx) ? 0.f : 1.f;
}
}else if (seam_position == spRear) {
// Object is centered around (0,0) in its current coordinate system.
last_pos.x() = 0;
last_pos.y() = coord_t(3. * po->bounding_box().radius());
last_pos_weight = 5.f;
travel_cost = 0;
}else if (seam_position == spNearest) {
last_pos_weight = 25.f;
travel_cost = 0;
angle_weight = 0;
}else if (seam_position == spCost) {
// last_pos already contains current nozzle position
// set base last_pos_weight to the same value as penaltyFlatSurface
last_pos_weight = 5.f;
if (po != nullptr) {
last_pos_weight = po->config().seam_travel_cost.get_abs_value(last_pos_weight);
angle_weight = po->config().seam_angle_cost.get_abs_value(angle_weight);
travel_cost = po->config().seam_travel_cost.get_abs_value(1);
}
}
// Insert a projection of last_pos into the polygon.
size_t last_pos_proj_idx;
{
Points::const_iterator it = project_point_to_polygon_and_insert(polygon, last_pos, 0.1 * nozzle_r );
last_pos_proj_idx = it - polygon.points.begin();
}
Point last_pos_proj = polygon.points[last_pos_proj_idx];
// Parametrize the polygon by its length.
std::vector<float> lengths = polygon.parameter_by_length();
//find the max dist the seam can be
float dist_max = 0.1f * lengths.back();// 5.f * nozzle_dmr
if (po != nullptr && travel_cost >= 1) {
last_pos_weight *= 2;
dist_max = 0;
for (size_t i = 0; i < polygon.points.size(); ++i) {
dist_max = std::max(dist_max, (float)polygon.points[i].distance_to(last_pos_proj));
}
}
// For each polygon point, store a penalty.
// First calculate the angles, store them as penalties. The angles are caluculated over a minimum arm length of nozzle_r.
std::vector<float> penalties = polygon_angles_at_vertices(polygon, lengths,
this->is_custom_seam_on_layer(layer_idx, po_idx) ? std::min(MINIMAL_POLYGON_SIDE / 2.f, float(nozzle_r)) : float(nozzle_r));
// No penalty for reflex points, slight penalty for convex points, high penalty for flat surfaces.
const float penaltyConvexVertex = 1.f;
const float penaltyFlatSurface = 3.f;
const float penaltyOverhangHalf = 10.f;
// Penalty for visible seams.
for (size_t i = 0; i < polygon.points.size(); ++ i) {
float ccwAngle = penalties[i];
if (was_clockwise)
ccwAngle = - ccwAngle;
float penalty = 0;
//if (ccwAngle < -float(0.6 * PI))
// penalty = 0.f;
//else if (ccwAngle > float(0.6 * PI))
//
// penalty = penaltyConvexVertex;
//else
if (ccwAngle < 0.f) {
// We love Sharp reflex vertex (high negative ccwAngle). It hides the seam perfectly.
// Interpolate penalty between maximum and zero.
penalty = penaltyFlatSurface * bspline_kernel(ccwAngle);
} else if (ccwAngle > float(0.67 * PI)) {
//penalize too sharp convex angle, it's best to be nearer to ~100°
penalty = penaltyConvexVertex + (penaltyFlatSurface - penaltyConvexVertex) * bspline_kernel( (PI - ccwAngle) * 1.5);
} else {
// Interpolate penalty between maximum and the penalty for a convex vertex.
penalty = penaltyConvexVertex + (penaltyFlatSurface - penaltyConvexVertex) * bspline_kernel(ccwAngle);
}
penalty *= angle_weight;
if (po != nullptr && travel_cost >= 1) {
penalty += last_pos_weight * polygon.points[i].distance_to(last_pos_proj) / dist_max;
} else {
// Give a negative penalty for points close to the last point or the prefered seam location.
float dist_to_last_pos_proj = (i < last_pos_proj_idx) ?
std::min(lengths[last_pos_proj_idx] - lengths[i], lengths.back() - lengths[last_pos_proj_idx] + lengths[i]) :
std::min(lengths[i] - lengths[last_pos_proj_idx], lengths.back() - lengths[i] + lengths[last_pos_proj_idx]);
penalty -= last_pos_weight * bspline_kernel(dist_to_last_pos_proj / dist_max);
penalties[i] = std::max(0.f, penalty);
if (prefer_nearest) {
// This hack limits the search around the nearest position projection.
penalties[i] += dist_to_last_pos_proj > 6.f * nozzle_r ? 100.f : 0.f;
}
}
}
// Penalty for overhangs.
if (lower_layer_edge_grid) {
// Use the edge grid distance field structure over the lower layer to calculate overhangs.
coord_t nozzle_r = coord_t(std::floor(scale_(0.5 * nozzle_dmr) + 0.5));
coord_t search_r = coord_t(std::floor(scale_(0.8 * nozzle_dmr) + 0.5));
for (size_t i = 0; i < polygon.points.size(); ++ i) {
const Point &p = polygon.points[i];
coordf_t dist;
// Signed distance is positive outside the object, negative inside the object.
// The point is considered at an overhang, if it is more than nozzle radius
// outside of the lower layer contour.
[[maybe_unused]] bool found = lower_layer_edge_grid->signed_distance(p, search_r, dist);
// If the approximate Signed Distance Field was initialized over lower_layer_edge_grid,
// then the signed distnace shall always be known.
assert(found);
penalties[i] += extrudate_overlap_penalty(float(nozzle_r), penaltyOverhangHalf, float(dist));
}
}
// Custom seam. Huge (negative) constant penalty is applied inside
// blockers (enforcers) to rule out points that should not win.
std::vector<float> penalties_with_custom_seam = penalties;
this->apply_custom_seam(polygon, po_idx, penalties_with_custom_seam, lengths, layer_idx, seam_position);
// Find a point with a minimum penalty.
size_t idx_min = std::min_element(penalties_with_custom_seam.begin(), penalties_with_custom_seam.end()) - penalties_with_custom_seam.begin();
if (seam_position != spAligned || ! is_custom_enforcer_on_layer(layer_idx, po_idx)) {
// Very likely the weight of idx_min is very close to the weight of last_pos_proj_idx.
// In that case use last_pos_proj_idx instead.
float penalty_aligned = penalties[last_pos_proj_idx];
float penalty_min = penalties[idx_min];
float penalty_diff_abs = std::abs(penalties_with_custom_seam[idx_min] - penalties_with_custom_seam[last_pos_proj_idx]);
float penalty_max = std::max(std::abs(penalties[idx_min]), std::abs(penalties[last_pos_proj_idx]));
float penalty_diff_rel = (penalty_max == 0.f) ? 0.f : penalty_diff_abs / penalty_max;
// printf("Align seams, penalty aligned: %f, min: %f, diff abs: %f, diff rel: %f\n", penalty_aligned, penalty_min, penalty_diff_abs, penalty_diff_rel);
if (std::abs(penalty_diff_rel) < 0.05 && penalty_diff_abs < 3) {
// Penalty of the aligned point is very close to the minimum penalty.
// Align the seams as accurately as possible.
idx_min = last_pos_proj_idx;
}
}
// moved up //TODO verify it's all good
//if (loop.role() == erExternalPerimeter)
// m_seam_history.add_seam(po, polygon.points[idx_min], polygon_bb);
// Export the contour into a SVG file.
#if 0
{
static int iRun = 0;
SVG svg(debug_out_path("GCode_extrude_loop-%d.svg", iRun ++));
if (m_layer->lower_layer != NULL)
svg.draw(m_layer->lower_layer->slices);
for (size_t i = 0; i < loop.paths.size(); ++ i)
svg.draw(loop.paths[i].as_polyline(), "red");
Polylines polylines;
for (size_t i = 0; i < loop.paths.size(); ++ i)
polylines.push_back(loop.paths[i].as_polyline());
Slic3r::Polygons polygons;
coordf_t nozzle_dmr = EXTRUDER_CONFIG(nozzle_diameter);
coord_t delta = scale_(0.5*nozzle_dmr);
Slic3r::offset(polylines, &polygons, delta);
// for (size_t i = 0; i < polygons.size(); ++ i) svg.draw((Polyline)polygons[i], "blue");
svg.draw(last_pos, "green", 3);
svg.draw(polygon.points[idx_min], "yellow", 3);
svg.Close();
}
#endif
return polygon.points[idx_min];
} else { // spRandom
if ( (loop.loop_role() & ExtrusionLoopRole::elrInternal) != 0 && loop.role() != erExternalPerimeter) {
// This loop does not contain any other loop. Set a random position.
// The other loops will get a seam close to the random point chosen
// on the innermost contour.
last_pos = this->get_random_seam(layer_idx, polygon, po_idx);
} else if (loop.role() == erExternalPerimeter) {
bool saw_custom = false;
if (is_custom_seam_on_layer(layer_idx, po_idx)) {
// There is a possibility that the loop will be influenced by custom
// seam enforcer/blocker. In this case do not inherit the seam
// from internal loops (which may conflict with the custom selection
// and generate another random one.
Point candidate = this->get_random_seam(layer_idx, polygon, po_idx, &saw_custom);
if (saw_custom)
last_pos = candidate;
}
if(!saw_custom)
if (external_perimeters_first || (loop.loop_role() & ExtrusionLoopRole::elrFirstLoop) != 0) {
// this is if external_perimeters_first
// this is if only space for one externalperimeter.
//in these case, there isn't a seam from the inner loops, so we had to creat our on
last_pos = this->get_random_seam(layer_idx, polygon, po_idx);
}
} else if (loop.role() == erThinWall) {
//thin wall loop is like an external perimeter, but without anything near it.
last_pos = this->get_random_seam(layer_idx, polygon, po_idx);
}
return last_pos;
}
}
Point SeamPlacer::get_random_seam(size_t layer_idx, const Polygon& polygon, size_t po_idx,
bool* saw_custom) const
{
// Parametrize the polygon by its length.
const std::vector<float> lengths = polygon.parameter_by_length();
// Which of the points are inside enforcers/blockers?
std::vector<size_t> enforcers_idxs;
std::vector<size_t> blockers_idxs;
this->get_enforcers_and_blockers(layer_idx, polygon, po_idx, enforcers_idxs, blockers_idxs);
bool has_enforcers = ! enforcers_idxs.empty();
bool has_blockers = ! blockers_idxs.empty();
if (saw_custom)
*saw_custom = has_enforcers || has_blockers;
assert(std::is_sorted(enforcers_idxs.begin(), enforcers_idxs.end()));
assert(std::is_sorted(blockers_idxs.begin(), blockers_idxs.end()));
std::vector<float> edges;
// Lambda to calculate lengths of all edges of interest. Last parameter
// decides whether to measure edges inside or outside idxs.
// Negative number = not an edge of interest.
auto get_valid_length = [&lengths](const std::vector<size_t>& idxs,
std::vector<float>& edges,
bool measure_inside_edges) -> float
{
// First mark edges we are interested in by assigning a positive number.
edges.assign(lengths.size()-1, measure_inside_edges ? -1.f : 1.f);
for (size_t i=0; i<idxs.size(); ++i) {
size_t this_pt_idx = idxs[i];
// Two concurrent indices in the list -> the edge between them is the enforcer/blocker.
bool inside_edge = ((i != idxs.size()-1 && idxs[i+1] == this_pt_idx + 1)
|| (i == idxs.size()-1 && idxs.back() == lengths.size()-2 && idxs[0] == 0));
if (inside_edge)
edges[this_pt_idx] = measure_inside_edges ? 1.f : -1.f;
}
// Now measure them.
float running_total = 0.f;
for (size_t i=0; i<edges.size(); ++i) {
if (edges[i] > 0.f) {
edges[i] = lengths[i+1] - lengths[i];
running_total += edges[i];
}
}
return running_total;
};
// Find all seam candidate edges and their lengths.
float valid_length = 0.f;
if (has_enforcers)
valid_length = get_valid_length(enforcers_idxs, edges, true);
if (! has_enforcers || valid_length == 0.f) {
// Second condition covers case with isolated enf points. Given how the painted
// triangles are projected, this should not happen. Stay on the safe side though.
if (has_blockers)
valid_length = get_valid_length(blockers_idxs, edges, false);
if (valid_length == 0.f) // No blockers or everything blocked - use the whole polygon.
valid_length = lengths.back();
}
assert(valid_length != 0.f);
// Now generate a random length and find the respective edge.
float rand_len = valid_length * (rand()/float(RAND_MAX));
size_t pt_idx = 0; // Index of the edge where to put the seam.
if (valid_length == lengths.back()) {
// Whole polygon is used for placing the seam.
auto it = std::lower_bound(lengths.begin(), lengths.end(), rand_len);
pt_idx = it == lengths.begin() ? 0 : (it-lengths.begin()-1); // this takes care of a corner case where rand() returns 0
} else {
float running = 0.f;
for (size_t i=0; i<edges.size(); ++i) {
running += edges[i] > 0.f ? edges[i] : 0.f;
if (running >= rand_len) {
pt_idx = i;
break;
}
}
}
if (! has_enforcers && ! has_blockers) {
// The polygon may be too coarse, calculate the point exactly.
assert(valid_length == lengths.back());
bool last_seg = pt_idx == polygon.points.size()-1;
size_t next_idx = last_seg ? 0 : pt_idx+1;
const Point& prev = polygon.points[pt_idx];
const Point& next = polygon.points[next_idx];
assert(next_idx == 0 || pt_idx+1 == next_idx);
coordf_t diff_x = next.x() - prev.x();
coordf_t diff_y = next.y() - prev.y();
coordf_t dist = lengths[last_seg ? pt_idx+1 : next_idx] - lengths[pt_idx];
return Point(prev.x() + (rand_len - lengths[pt_idx]) * (diff_x/dist),
prev.y() + (rand_len - lengths[pt_idx]) * (diff_y/dist));
} else {
// The polygon should be dense enough.
return polygon.points[pt_idx];
}
}
void SeamPlacer::get_enforcers_and_blockers(size_t layer_id,
const Polygon& polygon,
size_t po_idx,
std::vector<size_t>& enforcers_idxs,
std::vector<size_t>& blockers_idxs) const
{
enforcers_idxs.clear();
blockers_idxs.clear();
auto is_inside = [](const Point& pt,
const CustomTrianglesPerLayer& custom_data) -> bool {
assert(! custom_data.polys.empty());
// Now ask the AABB tree which polygons we should check and check them.
std::vector<size_t> candidates;
AABBTreeIndirect::get_candidate_idxs(custom_data.tree, pt, candidates);
if (! candidates.empty())
for (size_t idx : candidates)
if (custom_data.polys[idx].contains(pt))
return true;
return false;
};
if (! m_enforcers[po_idx].empty()) {
const CustomTrianglesPerLayer& enforcers = m_enforcers[po_idx][layer_id];
if (! enforcers.polys.empty()) {
for (size_t i=0; i<polygon.points.size(); ++i) {
if (is_inside(polygon.points[i], enforcers))
enforcers_idxs.emplace_back(i);
}
}
}
if (! m_blockers[po_idx].empty()) {
const CustomTrianglesPerLayer& blockers = m_blockers[po_idx][layer_id];
if (! blockers.polys.empty()) {
for (size_t i=0; i<polygon.points.size(); ++i) {
if (is_inside(polygon.points[i], blockers))
blockers_idxs.emplace_back(i);
}
}
}
}
// Go through the polygon, identify points inside support enforcers and return
// indices of points in the middle of each enforcer (measured along the contour).
static std::vector<size_t> find_enforcer_centers(const Polygon& polygon,
const std::vector<float>& lengths,
const std::vector<size_t>& enforcers_idxs)
{
std::vector<size_t> out;
assert(polygon.points.size()+1 == lengths.size());
assert(std::is_sorted(enforcers_idxs.begin(), enforcers_idxs.end()));
if (polygon.size() < 2 || enforcers_idxs.empty())
return out;
auto get_center_idx = [&lengths](size_t start_idx, size_t end_idx) -> size_t {
assert(end_idx >= start_idx);
if (start_idx == end_idx)
return start_idx;
float t_c = lengths[start_idx] + 0.5f * (lengths[end_idx] - lengths[start_idx]);
auto it = std::lower_bound(lengths.begin() + start_idx, lengths.begin() + end_idx, t_c);
int ret = it - lengths.begin();
return ret;
};
int last_enforcer_start_idx = enforcers_idxs.front();
bool first_pt_in_list = enforcers_idxs.front() != 0;
bool last_pt_in_list = enforcers_idxs.back() == polygon.points.size() - 1;
bool wrap_around = last_pt_in_list && first_pt_in_list;
for (size_t i=0; i<enforcers_idxs.size(); ++i) {
if (i != enforcers_idxs.size() - 1) {
if (enforcers_idxs[i+1] != enforcers_idxs[i] + 1) {
// i is last point of current enforcer
out.push_back(get_center_idx(last_enforcer_start_idx, enforcers_idxs[i]));
last_enforcer_start_idx = enforcers_idxs[i+1];
}
} else {
if (! wrap_around) {
// we can safely use the last enforcer point.
out.push_back(get_center_idx(last_enforcer_start_idx, enforcers_idxs[i]));
}
}
}
if (wrap_around) {
// Update first center already found.
if (out.empty()) {
// Probably an enforcer around the whole contour. Return nothing.
return out;
}
// find last point of the enforcer at the beginning:
size_t idx = 0;
while (enforcers_idxs[idx]+1 == enforcers_idxs[idx+1])
++idx;
float t_s = lengths[last_enforcer_start_idx];
float t_e = lengths[idx];
float half_dist = 0.5f * (t_e + lengths.back() - t_s);
float t_c = (half_dist > t_e) ? t_s + half_dist : t_e - half_dist;
auto it = std::lower_bound(lengths.begin(), lengths.end(), t_c);
out[0] = it - lengths.begin();
if (out[0] == lengths.size() - 1)
--out[0];
assert(out[0] < lengths.size() - 1);
}
return out;
}
void SeamPlacer::apply_custom_seam(const Polygon& polygon, size_t po_idx,
std::vector<float>& penalties,
const std::vector<float>& lengths,
int layer_id, SeamPosition seam_position) const
{
if (! is_custom_seam_on_layer(layer_id, po_idx))
return;
std::vector<size_t> enforcers_idxs;
std::vector<size_t> blockers_idxs;
this->get_enforcers_and_blockers(layer_id, polygon, po_idx, enforcers_idxs, blockers_idxs);
for (size_t i : enforcers_idxs) {
assert(i < penalties.size());
penalties[i] -= float(ENFORCER_BLOCKER_PENALTY);
}
for (size_t i : blockers_idxs) {
assert(i < penalties.size());
penalties[i] += float(ENFORCER_BLOCKER_PENALTY);
}
if (seam_position == spAligned) {
std::vector<size_t> enf_centers = find_enforcer_centers(polygon, lengths, enforcers_idxs);
for (size_t idx : enf_centers) {
assert(idx < penalties.size());
penalties[idx] += ENFORCER_CENTER_PENALTY;
}
}
#if 0
std::ostringstream os;
os << std::setw(3) << std::setfill('0') << layer_id;
int a = scale_(30.);
SVG svg("custom_seam" + os.str() + ".svg", BoundingBox(Point(-a, -a), Point(a, a)));
if (! m_enforcers[po_idx].empty())
svg.draw(m_enforcers[po_idx][layer_id].polys, "blue");
if (! m_blockers[po_idx].empty())
svg.draw(m_blockers[po_idx][layer_id].polys, "red");
if (! blockers_idxs.empty()) {
;
}
size_t min_idx = std::min_element(penalties.begin(), penalties.end()) - penalties.begin();
for (size_t i=0; i<polygon.points.size(); ++i) {
std::string fill;
coord_t size = 5e5;
if (min_idx == i)
fill = "yellow";
else
fill = (std::find(blockers_idxs.begin(), blockers_idxs.end(), i) != blockers_idxs.end() ? "green" : "black");
if (i != 0)
svg.draw(polygon.points[i], fill, size);
else
svg.draw(polygon.points[i], "red", 5e5);
}
#endif
}
std::optional<Point> SeamHistory::get_last_seam(const PrintObject* po, coord_t layer_z, const BoundingBox& island_bb)
{
assert(layer_z >= m_layer_z);
if (layer_z > m_layer_z) {
// Get seam was called for different layer than last time.
m_data_last_layer = m_data_this_layer;
m_data_this_layer.clear();
m_layer_z = layer_z;
}
std::optional<Point> out;
auto seams_it = m_data_last_layer.find(po);
if (seams_it == m_data_last_layer.end())
return out;
const std::vector<SeamPoint>& seam_data_po = seams_it->second;
// Find a bounding-box on the last layer that is close to one we see now.
double min_score = std::numeric_limits<double>::max();
for (const SeamPoint& sp : seam_data_po) {
const BoundingBox& bb = sp.m_island_bb;
if (! bb.overlap(island_bb)) {
// This bb does not even overlap. It is likely unrelated.
continue;
}
double score = std::pow(bb.min(0) - island_bb.min(0), 2.)
+ std::pow(bb.min(1) - island_bb.min(1), 2.)
+ std::pow(bb.max(0) - island_bb.max(0), 2.)
+ std::pow(bb.max(1) - island_bb.max(1), 2.);
if (score < min_score) {
min_score = score;
out = sp.m_pos;
}
}
return out;
}
void SeamHistory::add_seam(const PrintObject* po, const Point& pos, const BoundingBox& island_bb)
{
m_data_this_layer[po].push_back({pos, island_bb});;
}
void SeamHistory::clear()
{
m_layer_z = 0;
m_data_last_layer.clear();
m_data_this_layer.clear();
}
}
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