forked from viewit/OrcaSlicer-KX
c00c7eaed3
The resulting path now contains all intersection with borders, which allows eliminating more unnecessary detours and more simplify the path.
708 lines
35 KiB
C++
708 lines
35 KiB
C++
#include "../Layer.hpp"
|
|
#include "../MotionPlanner.hpp"
|
|
#include "../GCode.hpp"
|
|
#include "../MotionPlanner.hpp"
|
|
#include "../EdgeGrid.hpp"
|
|
#include "../Geometry.hpp"
|
|
#include "../ShortestPath.hpp"
|
|
#include "../Print.hpp"
|
|
#include "../Polygon.hpp"
|
|
#include "../ExPolygon.hpp"
|
|
#include "../ClipperUtils.hpp"
|
|
#include "AvoidCrossingPerimeters.hpp"
|
|
|
|
#include <memory>
|
|
|
|
namespace Slic3r {
|
|
|
|
void AvoidCrossingPerimeters::init_external_mp(const Print& print)
|
|
{
|
|
m_external_mp = Slic3r::make_unique<MotionPlanner>(union_ex(this->collect_contours_all_layers(print.objects())));
|
|
}
|
|
|
|
// Plan a travel move while minimizing the number of perimeter crossings.
|
|
// point is in unscaled coordinates, in the coordinate system of the current active object
|
|
// (set by gcodegen.set_origin()).
|
|
Polyline AvoidCrossingPerimeters::travel_to(const GCode& gcodegen, const Point& 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()(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);
|
|
return result;
|
|
}
|
|
|
|
// Collect outer contours of all objects over all layers.
|
|
// Discard objects only containing thin walls (offset would fail on an empty polygon).
|
|
// Used by avoid crossing perimeters feature.
|
|
Polygons AvoidCrossingPerimeters::collect_contours_all_layers(const PrintObjectPtrs& objects)
|
|
{
|
|
Polygons islands;
|
|
for (const PrintObject* object : objects) {
|
|
// Reducing all the object slices into the Z projection in a logarithimc fashion.
|
|
// First reduce to half the number of layers.
|
|
std::vector<Polygons> polygons_per_layer((object->layers().size() + 1) / 2);
|
|
tbb::parallel_for(tbb::blocked_range<size_t>(0, object->layers().size() / 2),
|
|
[&object, &polygons_per_layer](const tbb::blocked_range<size_t>& range) {
|
|
for (size_t i = range.begin(); i < range.end(); ++i) {
|
|
const Layer* layer1 = object->layers()[i * 2];
|
|
const Layer* layer2 = object->layers()[i * 2 + 1];
|
|
Polygons polys;
|
|
polys.reserve(layer1->lslices.size() + layer2->lslices.size());
|
|
for (const ExPolygon& expoly : layer1->lslices)
|
|
//FIXME no holes?
|
|
polys.emplace_back(expoly.contour);
|
|
for (const ExPolygon& expoly : layer2->lslices)
|
|
//FIXME no holes?
|
|
polys.emplace_back(expoly.contour);
|
|
polygons_per_layer[i] = union_(polys);
|
|
}
|
|
});
|
|
if (object->layers().size() & 1) {
|
|
const Layer* layer = object->layers().back();
|
|
Polygons polys;
|
|
polys.reserve(layer->lslices.size());
|
|
for (const ExPolygon& expoly : layer->lslices)
|
|
//FIXME no holes?
|
|
polys.emplace_back(expoly.contour);
|
|
polygons_per_layer.back() = union_(polys);
|
|
}
|
|
// Now reduce down to a single layer.
|
|
size_t cnt = polygons_per_layer.size();
|
|
while (cnt > 1) {
|
|
tbb::parallel_for(tbb::blocked_range<size_t>(0, cnt / 2),
|
|
[&polygons_per_layer](const tbb::blocked_range<size_t>& range) {
|
|
for (size_t i = range.begin(); i < range.end(); ++i) {
|
|
Polygons polys;
|
|
polys.reserve(polygons_per_layer[i * 2].size() + polygons_per_layer[i * 2 + 1].size());
|
|
polygons_append(polys, polygons_per_layer[i * 2]);
|
|
polygons_append(polys, polygons_per_layer[i * 2 + 1]);
|
|
polygons_per_layer[i * 2] = union_(polys);
|
|
}
|
|
});
|
|
for (size_t i = 1; i < cnt / 2; ++i)
|
|
polygons_per_layer[i] = std::move(polygons_per_layer[i * 2]);
|
|
if (cnt & 1)
|
|
polygons_per_layer[cnt / 2] = std::move(polygons_per_layer[cnt - 1]);
|
|
cnt = (cnt + 1) / 2;
|
|
}
|
|
// And collect copies of the objects.
|
|
for (const PrintInstance& instance : object->instances()) {
|
|
// All the layers were reduced to the 1st item of polygons_per_layer.
|
|
size_t i = islands.size();
|
|
polygons_append(islands, polygons_per_layer.front());
|
|
for (; i < islands.size(); ++i)
|
|
islands[i].translate(instance.shift);
|
|
}
|
|
}
|
|
return islands;
|
|
}
|
|
|
|
// Create a rotation matrix for projection on the given vector
|
|
static Matrix2d rotation_by_direction(const Point &direction)
|
|
{
|
|
Matrix2d rotation;
|
|
rotation.block<1, 2>(0, 0) = direction.cast<double>() / direction.cast<double>().norm();
|
|
rotation(1, 0) = -rotation(0, 1);
|
|
rotation(1, 1) = rotation(0, 0);
|
|
|
|
return rotation;
|
|
}
|
|
|
|
static Point find_first_different_vertex(const Polygon &polygon, const size_t point_idx, const Point &point, bool forward)
|
|
{
|
|
assert(point_idx < polygon.size());
|
|
if (point != polygon.points[point_idx])
|
|
return polygon.points[point_idx];
|
|
|
|
int line_idx = point_idx;
|
|
if (forward)
|
|
for (; point == polygon.points[line_idx]; line_idx = (((line_idx + 1) < int(polygon.points.size())) ? (line_idx + 1) : 0));
|
|
else
|
|
for (; point == polygon.points[line_idx]; line_idx = (((line_idx - 1) >= 0) ? (line_idx - 1) : (int(polygon.points.size()) - 1)));
|
|
return polygon.points[line_idx];
|
|
}
|
|
|
|
static Vec2d three_points_inward_normal(const Point &left, const Point &middle, const Point &right)
|
|
{
|
|
assert(left != middle);
|
|
assert(middle != right);
|
|
|
|
Vec2d normal_1(-1 * (middle.y() - left.y()), middle.x() - left.x());
|
|
Vec2d normal_2(-1 * (right.y() - middle.y()), right.x() - middle.x());
|
|
normal_1.normalize();
|
|
normal_2.normalize();
|
|
|
|
return (normal_1 + normal_2).normalized();
|
|
}
|
|
|
|
// Compute normal of the polygon's vertex in an inward direction
|
|
static Vec2d get_polygon_vertex_inward_normal(const Polygon &polygon, const size_t point_idx)
|
|
{
|
|
const size_t left_idx = (point_idx <= 0) ? (polygon.size() - 1) : (point_idx - 1);
|
|
const size_t right_idx = (point_idx >= (polygon.size() - 1)) ? 0 : (point_idx + 1);
|
|
const Point &middle = polygon.points[point_idx];
|
|
const Point &left = find_first_different_vertex(polygon, left_idx, middle, false);
|
|
const Point &right = find_first_different_vertex(polygon, right_idx, middle, true);
|
|
return three_points_inward_normal(left, middle, right);
|
|
}
|
|
|
|
// Compute offset of point_idx of the polygon in a direction of inward normal
|
|
static Point get_polygon_vertex_offset(const Polygon &polygon, const size_t point_idx, const int offset)
|
|
{
|
|
return polygon.points[point_idx] + (get_polygon_vertex_inward_normal(polygon, point_idx) * double(offset)).cast<coord_t>();
|
|
}
|
|
|
|
// Compute offset (in the direction of inward normal) of the point(passed on "middle") based on the nearest points laying on the polygon (left_idx and right_idx).
|
|
static Point get_middle_point_offset(const Polygon &polygon, const size_t left_idx, const size_t right_idx, const Point &middle, const int offset)
|
|
{
|
|
const Point &left = find_first_different_vertex(polygon, left_idx, middle, false);
|
|
const Point &right = find_first_different_vertex(polygon, right_idx, middle, true);
|
|
return middle + (three_points_inward_normal(left, middle, right) * double(offset)).cast<coord_t>();
|
|
}
|
|
|
|
static bool check_if_could_cross_perimeters(const BoundingBox &bbox, const Point &start, const Point &end)
|
|
{
|
|
bool start_out_of_bound = !bbox.contains(start), end_out_of_bound = !bbox.contains(end);
|
|
// When both endpoints are out of the bounding box, it needs to check in more detail.
|
|
if (start_out_of_bound && end_out_of_bound) {
|
|
Point intersection;
|
|
return bbox.polygon().intersection(Line(start, end), &intersection);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
static std::pair<Point, Point> clamp_endpoints_by_bounding_box(const BoundingBox &bbox, const Point &start, const Point &end)
|
|
{
|
|
bool start_out_of_bound = !bbox.contains(start), end_out_of_bound = !bbox.contains(end);
|
|
Point start_clamped = start, end_clamped = end;
|
|
Points intersections;
|
|
if (start_out_of_bound || end_out_of_bound) {
|
|
bbox.polygon().intersections(Line(start, end), &intersections);
|
|
assert(intersections.size() <= 2);
|
|
}
|
|
|
|
if (start_out_of_bound && !end_out_of_bound && intersections.size() == 1) {
|
|
start_clamped = intersections[0];
|
|
} else if (!start_out_of_bound && end_out_of_bound && intersections.size() == 1) {
|
|
end_clamped = intersections[0];
|
|
} else if (start_out_of_bound && end_out_of_bound && intersections.size() == 2) {
|
|
if ((intersections[0] - start).cast<double>().norm() < (intersections[1] - start).cast<double>().norm()) {
|
|
start_clamped = intersections[0];
|
|
end_clamped = intersections[1];
|
|
} else {
|
|
start_clamped = intersections[1];
|
|
end_clamped = intersections[0];
|
|
}
|
|
}
|
|
|
|
return std::make_pair(start_clamped, end_clamped);
|
|
}
|
|
|
|
static inline coord_t get_default_perimeter_spacing(const Print &print)
|
|
{
|
|
const std::vector<double> &nozzle_diameters = print.config().nozzle_diameter.values;
|
|
return scale_(*std::max_element(nozzle_diameters.begin(), nozzle_diameters.end()));
|
|
}
|
|
|
|
static coord_t get_perimeter_spacing(const Layer &layer)
|
|
{
|
|
size_t regions_count = 0;
|
|
coord_t perimeter_spacing = 0;
|
|
for (const LayerRegion *layer_region : layer.regions()) {
|
|
perimeter_spacing += layer_region->flow(frPerimeter).scaled_spacing();
|
|
++regions_count;
|
|
}
|
|
|
|
assert(perimeter_spacing >= 0);
|
|
if (regions_count != 0)
|
|
perimeter_spacing /= regions_count;
|
|
else
|
|
perimeter_spacing = get_default_perimeter_spacing(*layer.object()->print());
|
|
return perimeter_spacing;
|
|
}
|
|
|
|
static coord_t get_perimeter_spacing_external(const Layer &layer)
|
|
{
|
|
size_t regions_count = 0;
|
|
coord_t perimeter_spacing = 0;
|
|
for (const PrintObject *object : layer.object()->print()->objects())
|
|
for (Layer *l : object->layers())
|
|
if ((layer.print_z - EPSILON) <= l->print_z && l->print_z <= (layer.print_z + EPSILON))
|
|
for (const LayerRegion *layer_region : l->regions()) {
|
|
perimeter_spacing += layer_region->flow(frPerimeter).scaled_spacing();
|
|
++regions_count;
|
|
}
|
|
|
|
assert(perimeter_spacing >= 0);
|
|
if (regions_count != 0)
|
|
perimeter_spacing /= regions_count;
|
|
else
|
|
perimeter_spacing = get_default_perimeter_spacing(*layer.object()->print());
|
|
return perimeter_spacing;
|
|
}
|
|
|
|
// Check if anyone of ExPolygons contains whole travel.
|
|
template<class T> static bool any_expolygon_contains(const ExPolygons &ex_polygons, const T &travel)
|
|
{
|
|
for (const ExPolygon &ex_polygon : ex_polygons)
|
|
if (ex_polygon.contains(travel)) return true;
|
|
|
|
return false;
|
|
}
|
|
|
|
static std::pair<Polygons, Polygons> split_expolygon(const ExPolygons &ex_polygons)
|
|
{
|
|
Polygons contours, holes;
|
|
contours.reserve(ex_polygons.size());
|
|
holes.reserve(std::accumulate(ex_polygons.begin(), ex_polygons.end(), 0,
|
|
[](size_t sum, const ExPolygon &ex_poly) { return sum + ex_poly.holes.size(); }));
|
|
for (const ExPolygon &ex_poly : ex_polygons) {
|
|
contours.emplace_back(ex_poly.contour);
|
|
append(holes, ex_poly.holes);
|
|
}
|
|
return std::make_pair(std::move(contours), std::move(holes));
|
|
}
|
|
|
|
#ifdef AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT
|
|
static void export_travel_to_svg(const Polygons &boundary,
|
|
const Line &original_travel,
|
|
const Polyline &result_travel,
|
|
const std::vector<AvoidCrossingPerimeters2::Intersection> &intersections,
|
|
const std::string &path)
|
|
{
|
|
BoundingBox bbox = get_extents(boundary);
|
|
::Slic3r::SVG svg(path, bbox);
|
|
svg.draw_outline(boundary, "green");
|
|
svg.draw(original_travel, "blue");
|
|
svg.draw(result_travel, "red");
|
|
svg.draw(original_travel.a, "black");
|
|
svg.draw(original_travel.b, "grey");
|
|
|
|
for (const AvoidCrossingPerimeters2::Intersection &intersection : intersections)
|
|
svg.draw(intersection.point, "lightseagreen");
|
|
}
|
|
#endif /* AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT */
|
|
|
|
ExPolygons AvoidCrossingPerimeters2::get_boundary(const Layer &layer)
|
|
{
|
|
const coord_t perimeter_spacing = get_perimeter_spacing(layer);
|
|
const coord_t perimeter_offset = perimeter_spacing / 2;
|
|
size_t polygons_count = 0;
|
|
for (const LayerRegion *layer_region : layer.regions())
|
|
polygons_count += layer_region->slices.surfaces.size();
|
|
|
|
ExPolygons boundary;
|
|
boundary.reserve(polygons_count);
|
|
for (const LayerRegion *layer_region : layer.regions())
|
|
for (const Surface &surface : layer_region->slices.surfaces) boundary.emplace_back(surface.expolygon);
|
|
|
|
boundary = union_ex(boundary);
|
|
ExPolygons perimeter_boundary = offset_ex(boundary, -perimeter_offset);
|
|
ExPolygons result_boundary;
|
|
if (perimeter_boundary.size() != boundary.size()) {
|
|
// If any part of the polygon is missing after shrinking, then for misisng parts are is used the boundary of the slice.
|
|
ExPolygons missing_perimeter_boundary = offset_ex(diff_ex(boundary,
|
|
offset_ex(perimeter_boundary, perimeter_offset + SCALED_EPSILON / 2)),
|
|
perimeter_offset + SCALED_EPSILON);
|
|
perimeter_boundary = offset_ex(perimeter_boundary, perimeter_offset);
|
|
perimeter_boundary.reserve(perimeter_boundary.size() + missing_perimeter_boundary.size());
|
|
perimeter_boundary.insert(perimeter_boundary.end(), missing_perimeter_boundary.begin(), missing_perimeter_boundary.end());
|
|
// By calling intersection_ex some artifacts arose by previous operations are removed.
|
|
result_boundary = union_ex(intersection_ex(offset_ex(perimeter_boundary, -perimeter_offset), boundary));
|
|
} else {
|
|
result_boundary = std::move(perimeter_boundary);
|
|
}
|
|
|
|
auto [contours, holes] = split_expolygon(boundary);
|
|
// Add an outer boundary to avoid crossing perimeters from supports
|
|
ExPolygons outer_boundary = union_ex(
|
|
diff(static_cast<Polygons>(Geometry::convex_hull(offset(contours, 2 * perimeter_spacing))),
|
|
offset(contours, perimeter_spacing + perimeter_offset)));
|
|
result_boundary.insert(result_boundary.end(), outer_boundary.begin(), outer_boundary.end());
|
|
ExPolygons holes_boundary = offset_ex(holes, -perimeter_spacing);
|
|
result_boundary.insert(result_boundary.end(), holes_boundary.begin(), holes_boundary.end());
|
|
result_boundary = union_ex(result_boundary);
|
|
|
|
// Collect all top layers that will not be crossed.
|
|
polygons_count = 0;
|
|
for (const LayerRegion *layer_region : layer.regions())
|
|
for (const Surface &surface : layer_region->fill_surfaces.surfaces)
|
|
if (surface.is_top()) ++polygons_count;
|
|
|
|
if (polygons_count > 0) {
|
|
ExPolygons top_layer_polygons;
|
|
top_layer_polygons.reserve(polygons_count);
|
|
for (const LayerRegion *layer_region : layer.regions())
|
|
for (const Surface &surface : layer_region->fill_surfaces.surfaces)
|
|
if (surface.is_top()) top_layer_polygons.emplace_back(surface.expolygon);
|
|
|
|
top_layer_polygons = union_ex(top_layer_polygons);
|
|
return diff_ex(result_boundary, offset_ex(top_layer_polygons, -perimeter_offset));
|
|
}
|
|
|
|
return result_boundary;
|
|
}
|
|
|
|
ExPolygons AvoidCrossingPerimeters2::get_boundary_external(const Layer &layer)
|
|
{
|
|
const coord_t perimeter_spacing = get_perimeter_spacing_external(layer);
|
|
const coord_t perimeter_offset = perimeter_spacing / 2;
|
|
ExPolygons boundary;
|
|
// Collect all polygons for all printed objects and their instances, which will be printed at the same time as passed "layer".
|
|
for (const PrintObject *object : layer.object()->print()->objects()) {
|
|
ExPolygons polygons_per_obj;
|
|
for (Layer *l : object->layers())
|
|
if ((layer.print_z - EPSILON) <= l->print_z && l->print_z <= (layer.print_z + EPSILON))
|
|
for (const LayerRegion *layer_region : l->regions())
|
|
for (const Surface &surface : layer_region->slices.surfaces)
|
|
polygons_per_obj.emplace_back(surface.expolygon);
|
|
|
|
for (const PrintInstance &instance : object->instances()) {
|
|
size_t boundary_idx = boundary.size();
|
|
boundary.reserve(boundary.size() + polygons_per_obj.size());
|
|
boundary.insert(boundary.end(), polygons_per_obj.begin(), polygons_per_obj.end());
|
|
for (; boundary_idx < boundary.size(); ++boundary_idx) boundary[boundary_idx].translate(instance.shift.x(), instance.shift.y());
|
|
}
|
|
}
|
|
boundary = union_ex(boundary);
|
|
auto [contours, holes] = split_expolygon(boundary);
|
|
// Polygons in which is possible traveling without crossing perimeters of another object.
|
|
// A convex hull allows removing unnecessary detour caused by following the boundary of the object.
|
|
ExPolygons result_boundary = union_ex(
|
|
diff(static_cast<Polygons>(Geometry::convex_hull(offset(contours, 2 * perimeter_spacing))),
|
|
offset(contours, perimeter_spacing + perimeter_offset)));
|
|
// All holes are extended for forcing travel around the outer perimeter of a hole when a hole is crossed.
|
|
ExPolygons holes_boundary = union_ex(diff(offset(holes, perimeter_spacing), offset(holes, perimeter_offset)));
|
|
result_boundary.reserve(result_boundary.size() + holes_boundary.size());
|
|
result_boundary.insert(result_boundary.end(), holes_boundary.begin(), holes_boundary.end());
|
|
result_boundary = union_ex(result_boundary);
|
|
return result_boundary;
|
|
}
|
|
|
|
// Returns a direction of the shortest path along the polygon boundary
|
|
AvoidCrossingPerimeters2::Direction AvoidCrossingPerimeters2::get_shortest_direction(const Lines &lines,
|
|
const size_t start_idx,
|
|
const size_t end_idx,
|
|
const Point &intersection_first,
|
|
const Point &intersection_last)
|
|
{
|
|
double total_length_forward = (lines[start_idx].b - intersection_first).cast<double>().norm();
|
|
double total_length_backward = (lines[start_idx].a - intersection_first).cast<double>().norm();
|
|
|
|
auto cyclic_index = [&lines](int index) {
|
|
if (index >= int(lines.size()))
|
|
index = 0;
|
|
else if (index < 0)
|
|
index = lines.size() - 1;
|
|
|
|
return index;
|
|
};
|
|
|
|
for (int line_idx = cyclic_index(int(start_idx) + 1); line_idx != int(end_idx); line_idx = cyclic_index(line_idx + 1))
|
|
total_length_forward += lines[line_idx].length();
|
|
|
|
for (int line_idx = cyclic_index(int(start_idx) - 1); line_idx != int(end_idx); line_idx = cyclic_index(line_idx - 1))
|
|
total_length_backward += lines[line_idx].length();
|
|
|
|
total_length_forward += (lines[end_idx].a - intersection_last).cast<double>().norm();
|
|
total_length_backward += (lines[end_idx].b - intersection_last).cast<double>().norm();
|
|
|
|
return (total_length_forward < total_length_backward) ? Direction::Forward : Direction::Backward;
|
|
}
|
|
|
|
Polyline AvoidCrossingPerimeters2::simplify_travel(const EdgeGrid::Grid &edge_grid, const Polyline &travel)
|
|
{
|
|
struct Visitor
|
|
{
|
|
Visitor(const EdgeGrid::Grid &grid) : grid(grid) {}
|
|
|
|
bool operator()(coord_t iy, coord_t ix)
|
|
{
|
|
assert(pt_current != nullptr);
|
|
assert(pt_next != nullptr);
|
|
// Called with a row and colum of the grid cell, which is intersected by a line.
|
|
auto cell_data_range = grid.cell_data_range(iy, ix);
|
|
this->intersect = false;
|
|
for (auto it_contour_and_segment = cell_data_range.first; it_contour_and_segment != cell_data_range.second; ++it_contour_and_segment) {
|
|
// End points of the line segment and their vector.
|
|
auto segment = grid.segment(*it_contour_and_segment);
|
|
if (Geometry::segments_intersect(segment.first, segment.second, *pt_current, *pt_next)) {
|
|
this->intersect = true;
|
|
return false;
|
|
}
|
|
}
|
|
// Continue traversing the grid along the edge.
|
|
return true;
|
|
}
|
|
|
|
const EdgeGrid::Grid &grid;
|
|
const Slic3r::Point *pt_current = nullptr;
|
|
const Slic3r::Point *pt_next = nullptr;
|
|
bool intersect = false;
|
|
} visitor(edge_grid);
|
|
|
|
Polyline simplified_path;
|
|
simplified_path.points.reserve(travel.points.size());
|
|
simplified_path.points.emplace_back(travel.points.front());
|
|
|
|
// Try to skip some points in the path.
|
|
for (size_t point_idx = 1; point_idx < travel.size(); ++point_idx) {
|
|
const Point ¤t_point = travel.points[point_idx - 1];
|
|
Point next = travel.points[point_idx];
|
|
|
|
visitor.pt_current = ¤t_point;
|
|
|
|
for (size_t point_idx_2 = point_idx + 1; point_idx_2 < travel.size(); point_idx_2++) {
|
|
if (travel.points[point_idx_2] == current_point) {
|
|
next = travel.points[point_idx_2];
|
|
point_idx = point_idx_2;
|
|
continue;
|
|
}
|
|
|
|
visitor.pt_next = &travel.points[point_idx_2];
|
|
edge_grid.visit_cells_intersecting_line(*visitor.pt_current, *visitor.pt_next, visitor);
|
|
// Check if deleting point causes crossing a boundary
|
|
if (!visitor.intersect) {
|
|
next = travel.points[point_idx_2];
|
|
point_idx = point_idx_2;
|
|
}
|
|
}
|
|
|
|
simplified_path.append(next);
|
|
}
|
|
|
|
return simplified_path;
|
|
}
|
|
|
|
size_t AvoidCrossingPerimeters2::avoid_perimeters(const Polygons &boundaries,
|
|
const EdgeGrid::Grid &edge_grid,
|
|
const Point &start,
|
|
const Point &end,
|
|
Polyline *result_out)
|
|
{
|
|
const Point direction = end - start;
|
|
Matrix2d transform_to_x_axis = rotation_by_direction(direction);
|
|
|
|
const Line travel_line_orig(start, end);
|
|
const Line travel_line((transform_to_x_axis * start.cast<double>()).cast<coord_t>(),
|
|
(transform_to_x_axis * end.cast<double>()).cast<coord_t>());
|
|
|
|
std::vector<Intersection> intersections;
|
|
{
|
|
struct Visitor
|
|
{
|
|
Visitor(const EdgeGrid::Grid & grid,
|
|
std::vector<Intersection> &intersections,
|
|
const Matrix2d & transform_to_x_axis,
|
|
const Line & travel_line)
|
|
: grid(grid), intersections(intersections), transform_to_x_axis(transform_to_x_axis), travel_line(travel_line)
|
|
{}
|
|
|
|
bool operator()(coord_t iy, coord_t ix)
|
|
{
|
|
// Called with a row and colum of the grid cell, which is intersected by a line.
|
|
auto cell_data_range = grid.cell_data_range(iy, ix);
|
|
for (auto it_contour_and_segment = cell_data_range.first; it_contour_and_segment != cell_data_range.second;
|
|
++it_contour_and_segment) {
|
|
// End points of the line segment and their vector.
|
|
auto segment = grid.segment(*it_contour_and_segment);
|
|
|
|
Point intersection_point;
|
|
if (travel_line.intersection(Line(segment.first, segment.second), &intersection_point) &&
|
|
intersection_set.find(*it_contour_and_segment) == intersection_set.end()) {
|
|
intersections.emplace_back(it_contour_and_segment->first, it_contour_and_segment->second,
|
|
(transform_to_x_axis * intersection_point.cast<double>()).cast<coord_t>(), intersection_point);
|
|
intersection_set.insert(*it_contour_and_segment);
|
|
}
|
|
}
|
|
// Continue traversing the grid along the edge.
|
|
return true;
|
|
}
|
|
|
|
const EdgeGrid::Grid &grid;
|
|
std::vector<Intersection> &intersections;
|
|
const Matrix2d &transform_to_x_axis;
|
|
const Line &travel_line;
|
|
std::unordered_set<std::pair<size_t, size_t>, boost::hash<std::pair<size_t, size_t>>> intersection_set;
|
|
} visitor(edge_grid, intersections, transform_to_x_axis, travel_line_orig);
|
|
|
|
edge_grid.visit_cells_intersecting_line(start, end, visitor);
|
|
}
|
|
|
|
std::sort(intersections.begin(), intersections.end());
|
|
|
|
Polyline result;
|
|
result.append(start);
|
|
for (auto it_first = intersections.begin(); it_first != intersections.end(); ++it_first) {
|
|
// The entry point to the boundary polygon
|
|
const Intersection &intersection_first = *it_first;
|
|
// Skip the it_first from the search for the farthest exit point from the boundary polygon
|
|
auto it_last_item = std::make_reverse_iterator(it_first) - 1;
|
|
// Search for the farthest intersection different from it_first but with the same border_idx
|
|
auto it_second_r = std::find_if(intersections.rbegin(), it_last_item, [&intersection_first](const Intersection &intersection) {
|
|
return intersection_first.border_idx == intersection.border_idx;
|
|
});
|
|
|
|
// Append the first intersection into the path
|
|
size_t left_idx = intersection_first.line_idx;
|
|
size_t right_idx = (intersection_first.line_idx >= (boundaries[intersection_first.border_idx].points.size() - 1)) ? 0 : (intersection_first.line_idx + 1);
|
|
// Offset of the polygon's point using get_middle_point_offset is used to simplify the calculation of intersection between the
|
|
// boundary and the travel. The appended point is translated in the direction of inward normal. This translation ensures that the
|
|
// appended point will be inside the polygon and not on the polygon border.
|
|
result.append(get_middle_point_offset(boundaries[intersection_first.border_idx], left_idx, right_idx, intersection_first.point, SCALED_EPSILON));
|
|
|
|
// Check if intersection line also exit the boundary polygon
|
|
if (it_second_r != it_last_item) {
|
|
// Transform reverse iterator to forward
|
|
auto it_second = (it_second_r.base() - 1);
|
|
// The exit point from the boundary polygon
|
|
const Intersection &intersection_second = *it_second;
|
|
Lines border_lines = boundaries[intersection_first.border_idx].lines();
|
|
|
|
Direction shortest_direction = get_shortest_direction(border_lines, intersection_first.line_idx, intersection_second.line_idx, intersection_first.point, intersection_second.point);
|
|
// Append the path around the border into the path
|
|
if (shortest_direction == Direction::Forward)
|
|
for (int line_idx = intersection_first.line_idx; line_idx != int(intersection_second.line_idx);
|
|
line_idx = (((line_idx + 1) < int(border_lines.size())) ? (line_idx + 1) : 0))
|
|
result.append(get_polygon_vertex_offset(boundaries[intersection_first.border_idx],
|
|
(line_idx + 1 == int(boundaries[intersection_first.border_idx].points.size())) ? 0 : (line_idx + 1), SCALED_EPSILON));
|
|
else
|
|
for (int line_idx = intersection_first.line_idx; line_idx != int(intersection_second.line_idx);
|
|
line_idx = (((line_idx - 1) >= 0) ? (line_idx - 1) : (int(border_lines.size()) - 1)))
|
|
result.append(get_polygon_vertex_offset(boundaries[intersection_second.border_idx], line_idx + 0, SCALED_EPSILON));
|
|
|
|
// Append the farthest intersection into the path
|
|
left_idx = intersection_second.line_idx;
|
|
right_idx = (intersection_second.line_idx >= (boundaries[intersection_second.border_idx].points.size() - 1)) ? 0 : (intersection_second.line_idx + 1);
|
|
result.append(get_middle_point_offset(boundaries[intersection_second.border_idx], left_idx, right_idx, intersection_second.point, SCALED_EPSILON));
|
|
// Skip intersections in between
|
|
it_first = it_second;
|
|
}
|
|
}
|
|
|
|
result.append(end);
|
|
|
|
#ifdef AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT
|
|
{
|
|
static int iRun = 0;
|
|
export_travel_to_svg(boundaries, travel_line_orig, result, intersections,
|
|
debug_out_path("AvoidCrossingPerimeters-initial-%d.svg", iRun++));
|
|
}
|
|
#endif /* AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT */
|
|
|
|
if(!intersections.empty())
|
|
result = simplify_travel(edge_grid, result);
|
|
|
|
#ifdef AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT
|
|
{
|
|
static int iRun = 0;
|
|
export_travel_to_svg(boundaries, travel_line_orig, result, intersections,
|
|
debug_out_path("AvoidCrossingPerimeters-final-%d.svg", iRun++));
|
|
}
|
|
#endif /* AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT */
|
|
|
|
append(result_out->points, result.points);
|
|
return intersections.size();
|
|
}
|
|
|
|
bool AvoidCrossingPerimeters2::needs_wipe(const GCode & gcodegen,
|
|
const Line & original_travel,
|
|
const Polyline &result_travel,
|
|
const size_t intersection_count)
|
|
{
|
|
bool z_lift_enabled = gcodegen.config().retract_lift.get_at(gcodegen.writer().extruder()->id()) > 0.;
|
|
bool wipe_needed = false;
|
|
|
|
// If the original unmodified path doesn't have any intersection with boundary, then it is entirely inside the object otherwise is entirely
|
|
// outside the object.
|
|
if (intersection_count > 0) {
|
|
// The original layer is intersected with defined boundaries. Then it is necessary to make a detailed test.
|
|
// If the z-lift is enabled, then a wipe is needed when the original travel leads above the holes.
|
|
if (z_lift_enabled) {
|
|
if (any_expolygon_contains(m_slice, original_travel)) {
|
|
// Check if original_travel and are not same result_travel
|
|
if (result_travel.size() == 2 && result_travel.first_point() == original_travel.a && result_travel.last_point() == original_travel.b) {
|
|
wipe_needed = false;
|
|
} else {
|
|
wipe_needed = !any_expolygon_contains(m_slice, result_travel);
|
|
}
|
|
} else {
|
|
wipe_needed = true;
|
|
}
|
|
} else {
|
|
wipe_needed = !any_expolygon_contains(m_slice, result_travel);
|
|
}
|
|
}
|
|
|
|
return wipe_needed;
|
|
}
|
|
|
|
// Plan travel, which avoids perimeter crossings by following the boundaries of the layer.
|
|
Polyline AvoidCrossingPerimeters2::travel_to(const GCode &gcodegen, const Point &point, bool *could_be_wipe_disabled)
|
|
{
|
|
// 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()(0), gcodegen.origin()(1)) : Point(0, 0);
|
|
Point start = gcodegen.last_pos() + scaled_origin;
|
|
Point end = point + scaled_origin;
|
|
Polyline result;
|
|
size_t travel_intersection_count = 0;
|
|
if (!check_if_could_cross_perimeters(use_external ? m_bbox_external : m_bbox, start, end)) {
|
|
result = Polyline({start, end});
|
|
travel_intersection_count = 0;
|
|
} else {
|
|
auto [start_clamped, end_clamped] = clamp_endpoints_by_bounding_box(use_external ? m_bbox_external : m_bbox, start, end);
|
|
if (use_external)
|
|
travel_intersection_count = this->avoid_perimeters(m_boundaries_external, m_grid_external, start_clamped, end_clamped, &result);
|
|
else
|
|
travel_intersection_count = this->avoid_perimeters(m_boundaries, m_grid, start_clamped, end_clamped, &result);
|
|
}
|
|
|
|
result.points.front() = start;
|
|
result.points.back() = end;
|
|
|
|
Line travel(start, end);
|
|
double max_detour_length scale_(gcodegen.config().avoid_crossing_perimeters_max_detour);
|
|
if ((max_detour_length > 0) && ((result.length() - travel.length()) > max_detour_length)) {
|
|
result = Polyline({start, end});
|
|
}
|
|
if (use_external) {
|
|
result.translate(-scaled_origin);
|
|
*could_be_wipe_disabled = false;
|
|
} else
|
|
*could_be_wipe_disabled = !needs_wipe(gcodegen, travel, result, travel_intersection_count);
|
|
|
|
return result;
|
|
}
|
|
|
|
void AvoidCrossingPerimeters2::init_layer(const Layer &layer)
|
|
{
|
|
m_slice.clear();
|
|
m_boundaries.clear();
|
|
m_boundaries_external.clear();
|
|
|
|
for (const LayerRegion *layer_region : layer.regions())
|
|
append(m_slice, (ExPolygons) layer_region->slices);
|
|
|
|
m_boundaries = to_polygons(get_boundary(layer));
|
|
m_boundaries_external = to_polygons(get_boundary_external(layer));
|
|
|
|
m_bbox = get_extents(m_boundaries);
|
|
m_bbox.offset(SCALED_EPSILON);
|
|
m_bbox_external = get_extents(m_boundaries_external);
|
|
m_bbox_external.offset(SCALED_EPSILON);
|
|
|
|
m_grid.set_bbox(m_bbox);
|
|
m_grid.create(m_boundaries, scale_(1.));
|
|
m_grid_external.set_bbox(m_bbox_external);
|
|
m_grid_external.create(m_boundaries_external, scale_(1.));
|
|
}
|
|
|
|
} // namespace Slic3r
|