1386 lines
73 KiB
C++
1386 lines
73 KiB
C++
#include "SeamPlacer.hpp"
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#include "tbb/parallel_for.h"
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#include "tbb/blocked_range.h"
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#include "tbb/parallel_reduce.h"
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#include <boost/log/trivial.hpp>
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#include <random>
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#include <algorithm>
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#include <queue>
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#include "libslic3r/AABBTreeLines.hpp"
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#include "libslic3r/KDTreeIndirect.hpp"
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#include "libslic3r/ExtrusionEntity.hpp"
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#include "libslic3r/Print.hpp"
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#include "libslic3r/BoundingBox.hpp"
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#include "libslic3r/ClipperUtils.hpp"
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#include "libslic3r/Layer.hpp"
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#include "libslic3r/Geometry/Curves.hpp"
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#include "libslic3r/ShortEdgeCollapse.hpp"
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#include "libslic3r/TriangleSetSampling.hpp"
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#include "libslic3r/Utils.hpp"
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//#define DEBUG_FILES
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#ifdef DEBUG_FILES
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#include <boost/nowide/cstdio.hpp>
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#include <SVG.hpp>
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#endif
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namespace Slic3r {
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namespace SeamPlacerImpl {
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// ************ FOR BACKPORT COMPATIBILITY ONLY ***************
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// Color mapping of a value into RGB false colors.
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inline Vec3f value_to_rgbf(float minimum, float maximum, float value)
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{
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float ratio = 2.0f * (value - minimum) / (maximum - minimum);
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float b = std::max(0.0f, (1.0f - ratio));
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float r = std::max(0.0f, (ratio - 1.0f));
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float g = 1.0f - b - r;
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return Vec3f{r, g, b};
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}
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// Color mapping of a value into RGB false colors.
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inline Vec3i value_to_rgbi(float minimum, float maximum, float value) { return (value_to_rgbf(minimum, maximum, value) * 255).cast<int>(); }
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// ***************************
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template<typename T> int sgn(T val) { return int(T(0) < val) - int(val < T(0)); }
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// base function: ((e^(((1)/(x^(2)+1)))-1)/(e-1))
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// checkout e.g. here: https://www.geogebra.org/calculator
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float gauss(float value, float mean_x_coord, float mean_value, float falloff_speed)
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{
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float shifted = value - mean_x_coord;
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float denominator = falloff_speed * shifted * shifted + 1.0f;
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float exponent = 1.0f / denominator;
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return mean_value * (std::exp(exponent) - 1.0f) / (std::exp(1.0f) - 1.0f);
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}
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float compute_angle_penalty(float ccw_angle)
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{
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// This function is used:
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// ((ℯ^(((1)/(x^(2)*3+1)))-1)/(ℯ-1))*1+((1)/(2+ℯ^(-x)))
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// looks scary, but it is gaussian combined with sigmoid,
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// so that concave points have much smaller penalty over convex ones
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// https://github.com/prusa3d/PrusaSlicer/tree/master/doc/seam_placement/corner_penalty_function.png
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return gauss(ccw_angle, 0.0f, 1.0f, 3.0f) + 1.0f / (2 + std::exp(-ccw_angle));
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}
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/// Coordinate frame
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class Frame
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{
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public:
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Frame()
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{
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mX = Vec3f(1, 0, 0);
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mY = Vec3f(0, 1, 0);
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mZ = Vec3f(0, 0, 1);
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}
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Frame(const Vec3f &x, const Vec3f &y, const Vec3f &z) : mX(x), mY(y), mZ(z) {}
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void set_from_z(const Vec3f &z)
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{
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mZ = z.normalized();
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Vec3f tmpZ = mZ;
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Vec3f tmpX = (std::abs(tmpZ.x()) > 0.99f) ? Vec3f(0, 1, 0) : Vec3f(1, 0, 0);
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mY = (tmpZ.cross(tmpX)).normalized();
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mX = mY.cross(tmpZ);
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}
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Vec3f to_world(const Vec3f &a) const { return a.x() * mX + a.y() * mY + a.z() * mZ; }
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Vec3f to_local(const Vec3f &a) const { return Vec3f(mX.dot(a), mY.dot(a), mZ.dot(a)); }
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const Vec3f &binormal() const { return mX; }
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const Vec3f &tangent() const { return mY; }
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const Vec3f &normal() const { return mZ; }
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private:
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Vec3f mX, mY, mZ;
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};
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Vec3f sample_sphere_uniform(const Vec2f &samples)
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{
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float term1 = 2.0f * float(PI) * samples.x();
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float term2 = 2.0f * sqrt(samples.y() - samples.y() * samples.y());
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return {cos(term1) * term2, sin(term1) * term2, 1.0f - 2.0f * samples.y()};
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}
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Vec3f sample_hemisphere_uniform(const Vec2f &samples)
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{
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float term1 = 2.0f * float(PI) * samples.x();
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float term2 = 2.0f * sqrt(samples.y() - samples.y() * samples.y());
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return {cos(term1) * term2, sin(term1) * term2, abs(1.0f - 2.0f * samples.y())};
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}
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Vec3f sample_power_cosine_hemisphere(const Vec2f &samples, float power)
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{
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float term1 = 2.f * float(PI) * samples.x();
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float term2 = pow(samples.y(), 1.f / (power + 1.f));
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float term3 = sqrt(1.f - term2 * term2);
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return Vec3f(cos(term1) * term3, sin(term1) * term3, term2);
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}
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std::vector<float> raycast_visibility(const AABBTreeIndirect::Tree<3, float> &raycasting_tree,
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const indexed_triangle_set & triangles,
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const TriangleSetSamples & samples,
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size_t negative_volumes_start_index)
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{
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BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: raycast visibility of " << samples.positions.size() << " samples over " << triangles.indices.size() << " triangles: end";
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// prepare uniform samples of a hemisphere
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float step_size = 1.0f / SeamPlacer::sqr_rays_per_sample_point;
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std::vector<Vec3f> precomputed_sample_directions(SeamPlacer::sqr_rays_per_sample_point * SeamPlacer::sqr_rays_per_sample_point);
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for (size_t x_idx = 0; x_idx < SeamPlacer::sqr_rays_per_sample_point; ++x_idx) {
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float sample_x = x_idx * step_size + step_size / 2.0;
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for (size_t y_idx = 0; y_idx < SeamPlacer::sqr_rays_per_sample_point; ++y_idx) {
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size_t dir_index = x_idx * SeamPlacer::sqr_rays_per_sample_point + y_idx;
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float sample_y = y_idx * step_size + step_size / 2.0;
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precomputed_sample_directions[dir_index] = sample_hemisphere_uniform({sample_x, sample_y});
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}
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}
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bool model_contains_negative_parts = negative_volumes_start_index < triangles.indices.size();
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std::vector<float> result(samples.positions.size());
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tbb::parallel_for(tbb::blocked_range<size_t>(0, result.size()), [&triangles, &precomputed_sample_directions, model_contains_negative_parts, negative_volumes_start_index,
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&raycasting_tree, &result, &samples](tbb::blocked_range<size_t> r) {
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// Maintaining hits memory outside of the loop, so it does not have to be reallocated for each query.
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std::vector<igl::Hit> hits;
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for (size_t s_idx = r.begin(); s_idx < r.end(); ++s_idx) {
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result[s_idx] = 1.0f;
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constexpr float decrease_step = 1.0f / (SeamPlacer::sqr_rays_per_sample_point * SeamPlacer::sqr_rays_per_sample_point);
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const Vec3f ¢er = samples.positions[s_idx];
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const Vec3f &normal = samples.normals[s_idx];
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// apply the local direction via Frame struct - the local_dir is with respect to +Z being forward
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Frame f;
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f.set_from_z(normal);
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for (const auto &dir : precomputed_sample_directions) {
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Vec3f final_ray_dir = (f.to_world(dir));
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if (!model_contains_negative_parts) {
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igl::Hit hitpoint;
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// FIXME: This AABBTTreeIndirect query will not compile for float ray origin and
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// direction.
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Vec3d final_ray_dir_d = final_ray_dir.cast<double>();
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Vec3d ray_origin_d = (center + normal * 0.01f).cast<double>(); // start above surface.
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bool hit = AABBTreeIndirect::intersect_ray_first_hit(triangles.vertices, triangles.indices, raycasting_tree, ray_origin_d, final_ray_dir_d, hitpoint);
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if (hit && its_face_normal(triangles, hitpoint.id).dot(final_ray_dir) <= 0) { result[s_idx] -= decrease_step; }
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} else { // TODO improve logic for order based boolean operations - consider order of volumes
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bool casting_from_negative_volume = samples.triangle_indices[s_idx] >= negative_volumes_start_index;
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Vec3d ray_origin_d = (center + normal * 0.01f).cast<double>(); // start above surface.
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if (casting_from_negative_volume) { // if casting from negative volume face, invert direction, change start pos
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final_ray_dir = -1.0 * final_ray_dir;
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ray_origin_d = (center - normal * 0.01f).cast<double>();
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}
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Vec3d final_ray_dir_d = final_ray_dir.cast<double>();
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bool some_hit = AABBTreeIndirect::intersect_ray_all_hits(triangles.vertices, triangles.indices, raycasting_tree, ray_origin_d, final_ray_dir_d, hits);
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if (some_hit) {
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int counter = 0;
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// NOTE: iterating in reverse, from the last hit for one simple reason: We know the state of the ray at that point;
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// It cannot be inside model, and it cannot be inside negative volume
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for (int hit_index = int(hits.size()) - 1; hit_index >= 0; --hit_index) {
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Vec3f face_normal = its_face_normal(triangles, hits[hit_index].id);
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if (hits[hit_index].id >= int(negative_volumes_start_index)) { // negative volume hit
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counter -= sgn(face_normal.dot(final_ray_dir)); // if volume face aligns with ray dir, we are leaving negative space
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// which in reverse hit analysis means, that we are entering negative space :) and vice versa
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} else {
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counter += sgn(face_normal.dot(final_ray_dir));
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}
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}
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if (counter == 0) { result[s_idx] -= decrease_step; }
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}
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}
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}
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}
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});
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BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: raycast visibility of " << samples.positions.size() << " samples over " << triangles.indices.size() << " triangles: end";
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return result;
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}
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std::vector<float> calculate_polygon_angles_at_vertices(const Polygon &polygon, const std::vector<float> &lengths, float min_arm_length)
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{
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std::vector<float> result(polygon.size());
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if (polygon.size() == 1) { result[0] = 0.0f; }
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size_t idx_prev = 0;
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size_t idx_curr = 0;
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size_t idx_next = 0;
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float distance_to_prev = 0;
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float distance_to_next = 0;
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// push idx_prev far enough back as initialization
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while (distance_to_prev < min_arm_length) {
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idx_prev = Slic3r::prev_idx_modulo(idx_prev, polygon.size());
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distance_to_prev += lengths[idx_prev];
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}
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for (size_t _i = 0; _i < polygon.size(); ++_i) {
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// pull idx_prev to current as much as possible, while respecting the min_arm_length
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while (distance_to_prev - lengths[idx_prev] > min_arm_length) {
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distance_to_prev -= lengths[idx_prev];
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idx_prev = Slic3r::next_idx_modulo(idx_prev, polygon.size());
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}
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// push idx_next forward as far as needed
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while (distance_to_next < min_arm_length) {
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distance_to_next += lengths[idx_next];
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idx_next = Slic3r::next_idx_modulo(idx_next, polygon.size());
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}
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// Calculate angle between idx_prev, idx_curr, idx_next.
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const Point &p0 = polygon.points[idx_prev];
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const Point &p1 = polygon.points[idx_curr];
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const Point &p2 = polygon.points[idx_next];
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result[idx_curr] = float(angle(p1 - p0, p2 - p1));
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// increase idx_curr by one
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float curr_distance = lengths[idx_curr];
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idx_curr++;
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distance_to_prev += curr_distance;
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distance_to_next -= curr_distance;
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}
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return result;
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}
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struct CoordinateFunctor
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{
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const std::vector<Vec3f> *coordinates;
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CoordinateFunctor(const std::vector<Vec3f> *coords) : coordinates(coords) {}
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CoordinateFunctor() : coordinates(nullptr) {}
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const float &operator()(size_t idx, size_t dim) const { return coordinates->operator[](idx)[dim]; }
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};
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// structure to store global information about the model - occlusion hits, enforcers, blockers
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struct GlobalModelInfo
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{
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TriangleSetSamples mesh_samples;
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std::vector<float> mesh_samples_visibility;
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CoordinateFunctor mesh_samples_coordinate_functor;
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KDTreeIndirect<3, float, CoordinateFunctor> mesh_samples_tree{CoordinateFunctor{}};
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float mesh_samples_radius;
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indexed_triangle_set enforcers;
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indexed_triangle_set blockers;
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AABBTreeIndirect::Tree<3, float> enforcers_tree;
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AABBTreeIndirect::Tree<3, float> blockers_tree;
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bool is_enforced(const Vec3f &position, float radius) const
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{
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if (enforcers.empty()) { return false; }
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float radius_sqr = radius * radius;
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return AABBTreeIndirect::is_any_triangle_in_radius(enforcers.vertices, enforcers.indices, enforcers_tree, position, radius_sqr);
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}
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bool is_blocked(const Vec3f &position, float radius) const
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{
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if (blockers.empty()) { return false; }
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float radius_sqr = radius * radius;
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return AABBTreeIndirect::is_any_triangle_in_radius(blockers.vertices, blockers.indices, blockers_tree, position, radius_sqr);
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}
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float calculate_point_visibility(const Vec3f &position) const
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{
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std::vector<size_t> points = find_nearby_points(mesh_samples_tree, position, mesh_samples_radius);
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if (points.empty()) { return 1.0f; }
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auto compute_dist_to_plane = [](const Vec3f &position, const Vec3f &plane_origin, const Vec3f &plane_normal) {
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Vec3f orig_to_point = position - plane_origin;
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return std::abs(orig_to_point.dot(plane_normal));
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};
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float total_weight = 0;
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float total_visibility = 0;
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for (size_t i = 0; i < points.size(); ++i) {
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size_t sample_idx = points[i];
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Vec3f sample_point = this->mesh_samples.positions[sample_idx];
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Vec3f sample_normal = this->mesh_samples.normals[sample_idx];
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float weight = mesh_samples_radius - compute_dist_to_plane(position, sample_point, sample_normal);
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weight += (mesh_samples_radius - (position - sample_point).norm());
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total_visibility += weight * mesh_samples_visibility[sample_idx];
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total_weight += weight;
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}
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return total_visibility / total_weight;
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}
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#ifdef DEBUG_FILES
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void debug_export(const indexed_triangle_set &obj_mesh) const
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{
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indexed_triangle_set divided_mesh = obj_mesh;
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Slic3r::CNumericLocalesSetter locales_setter;
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{
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auto filename = debug_out_path("visiblity.obj");
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FILE *fp = boost::nowide::fopen(filename.c_str(), "w");
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if (fp == nullptr) {
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BOOST_LOG_TRIVIAL(error) << "stl_write_obj: Couldn't open " << filename << " for writing";
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return;
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}
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for (size_t i = 0; i < divided_mesh.vertices.size(); ++i) {
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float visibility = calculate_point_visibility(divided_mesh.vertices[i]);
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Vec3f color = value_to_rgbf(0.0f, 1.0f, visibility);
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fprintf(fp, "v %f %f %f %f %f %f\n", divided_mesh.vertices[i](0), divided_mesh.vertices[i](1), divided_mesh.vertices[i](2), color(0), color(1), color(2));
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}
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for (size_t i = 0; i < divided_mesh.indices.size(); ++i)
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fprintf(fp, "f %d %d %d\n", divided_mesh.indices[i][0] + 1, divided_mesh.indices[i][1] + 1, divided_mesh.indices[i][2] + 1);
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fclose(fp);
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}
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{
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auto filename = debug_out_path("visiblity_samples.obj");
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FILE *fp = boost::nowide::fopen(filename.c_str(), "w");
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if (fp == nullptr) {
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BOOST_LOG_TRIVIAL(error) << "stl_write_obj: Couldn't open " << filename << " for writing";
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return;
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}
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for (size_t i = 0; i < mesh_samples.positions.size(); ++i) {
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float visibility = mesh_samples_visibility[i];
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Vec3f color = value_to_rgbf(0.0f, 1.0f, visibility);
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fprintf(fp, "v %f %f %f %f %f %f\n", mesh_samples.positions[i](0), mesh_samples.positions[i](1), mesh_samples.positions[i](2), color(0), color(1), color(2));
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}
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fclose(fp);
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}
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}
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#endif
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};
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// Extract perimeter polygons of the given layer
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Polygons extract_perimeter_polygons(const Layer *layer, const SeamPosition configured_seam_preference, std::vector<const LayerRegion *> &corresponding_regions_out)
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{
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Polygons polygons;
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for (const LayerRegion *layer_region : layer->regions()) {
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for (const ExtrusionEntity *ex_entity : layer_region->perimeters.entities) {
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if (ex_entity->is_collection()) { // collection of inner, outer, and overhang perimeters
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for (const ExtrusionEntity *perimeter : static_cast<const ExtrusionEntityCollection *>(ex_entity)->entities) {
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ExtrusionRole role = perimeter->role();
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if (perimeter->is_loop()) {
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for (const ExtrusionPath &path : static_cast<const ExtrusionLoop *>(perimeter)->paths) {
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if (path.role() == ExtrusionRole::erExternalPerimeter) { role = ExtrusionRole::erExternalPerimeter; }
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}
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}
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if (role == ExtrusionRole::erExternalPerimeter ||
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(is_perimeter(role) && configured_seam_preference == spRandom)) { // for random seam alignment, extract all perimeters
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Points p;
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perimeter->collect_points(p);
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polygons.emplace_back(std::move(p));
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corresponding_regions_out.push_back(layer_region);
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}
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}
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if (polygons.empty()) {
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Points p;
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ex_entity->collect_points(p);
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polygons.emplace_back(std::move(p));
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corresponding_regions_out.push_back(layer_region);
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}
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} else {
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Points p;
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ex_entity->collect_points(p);
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polygons.emplace_back(std::move(p));
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corresponding_regions_out.push_back(layer_region);
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}
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}
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}
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if (polygons.empty()) { // If there are no perimeter polygons for whatever reason (disabled perimeters .. ) insert dummy point
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||
// it is easier than checking everywhere if the layer is not emtpy, no seam will be placed to this layer anyway
|
||
polygons.emplace_back(std::vector{Point{0, 0}});
|
||
corresponding_regions_out.push_back(nullptr);
|
||
}
|
||
|
||
return polygons;
|
||
}
|
||
|
||
// Insert SeamCandidates created from perimeter polygons in to the result vector.
|
||
// Compute its type (Enfrocer,Blocker), angle, and position
|
||
// each SeamCandidate also contains pointer to shared Perimeter structure representing the polygon
|
||
// if Custom Seam modifiers are present, oversamples the polygon if necessary to better fit user intentions
|
||
void process_perimeter_polygon(
|
||
const Polygon &orig_polygon, float z_coord, const LayerRegion *region, const GlobalModelInfo &global_model_info, PrintObjectSeamData::LayerSeams &result)
|
||
{
|
||
if (orig_polygon.size() == 0) { return; }
|
||
Polygon polygon = orig_polygon;
|
||
bool was_clockwise = polygon.make_counter_clockwise();
|
||
float angle_arm_len = region != nullptr ? region->flow(FlowRole::frExternalPerimeter).nozzle_diameter() : 0.5f;
|
||
|
||
std::vector<float> lengths{};
|
||
for (size_t point_idx = 0; point_idx < polygon.size() - 1; ++point_idx) { lengths.push_back((unscale(polygon[point_idx]) - unscale(polygon[point_idx + 1])).norm()); }
|
||
lengths.push_back(std::max((unscale(polygon[0]) - unscale(polygon[polygon.size() - 1])).norm(), 0.1));
|
||
std::vector<float> polygon_angles = calculate_polygon_angles_at_vertices(polygon, lengths, angle_arm_len);
|
||
|
||
result.perimeters.push_back({});
|
||
Perimeter &perimeter = result.perimeters.back();
|
||
|
||
std::queue<Vec3f> orig_polygon_points{};
|
||
for (size_t index = 0; index < polygon.size(); ++index) {
|
||
Vec2f unscaled_p = unscale(polygon[index]).cast<float>();
|
||
orig_polygon_points.emplace(unscaled_p.x(), unscaled_p.y(), z_coord);
|
||
}
|
||
Vec3f first = orig_polygon_points.front();
|
||
std::queue<Vec3f> oversampled_points{};
|
||
size_t orig_angle_index = 0;
|
||
perimeter.start_index = result.points.size();
|
||
perimeter.flow_width = region != nullptr ? region->flow(FlowRole::frExternalPerimeter).width() : 0.0f;
|
||
bool some_point_enforced = false;
|
||
while (!orig_polygon_points.empty() || !oversampled_points.empty()) {
|
||
EnforcedBlockedSeamPoint type = EnforcedBlockedSeamPoint::Neutral;
|
||
Vec3f position;
|
||
float local_ccw_angle = 0;
|
||
bool orig_point = false;
|
||
if (!oversampled_points.empty()) {
|
||
position = oversampled_points.front();
|
||
oversampled_points.pop();
|
||
} else {
|
||
position = orig_polygon_points.front();
|
||
orig_polygon_points.pop();
|
||
local_ccw_angle = was_clockwise ? -polygon_angles[orig_angle_index] : polygon_angles[orig_angle_index];
|
||
orig_angle_index++;
|
||
orig_point = true;
|
||
}
|
||
|
||
if (global_model_info.is_enforced(position, perimeter.flow_width)) { type = EnforcedBlockedSeamPoint::Enforced; }
|
||
|
||
if (global_model_info.is_blocked(position, perimeter.flow_width)) { type = EnforcedBlockedSeamPoint::Blocked; }
|
||
some_point_enforced = some_point_enforced || type == EnforcedBlockedSeamPoint::Enforced;
|
||
|
||
if (orig_point) {
|
||
Vec3f pos_of_next = orig_polygon_points.empty() ? first : orig_polygon_points.front();
|
||
float distance_to_next = (position - pos_of_next).norm();
|
||
if (distance_to_next > perimeter.flow_width * perimeter.flow_width * 4)
|
||
oversampled_points.push((position + pos_of_next) / 2);
|
||
if (global_model_info.is_enforced(position, distance_to_next)) {
|
||
Vec3f vec_to_next = (pos_of_next - position).normalized();
|
||
float step_size = SeamPlacer::enforcer_oversampling_distance;
|
||
float step = step_size;
|
||
while (step < distance_to_next) {
|
||
oversampled_points.push(position + vec_to_next * step);
|
||
step += step_size;
|
||
}
|
||
}
|
||
}
|
||
|
||
result.points.emplace_back(position, perimeter, local_ccw_angle, type);
|
||
}
|
||
|
||
perimeter.end_index = result.points.size();
|
||
|
||
if (some_point_enforced) {
|
||
// We will patches of enforced points (patch: continuous section of enforced points), choose
|
||
// the longest patch, and select the middle point or sharp point (depending on the angle)
|
||
// this point will have high priority on this perimeter
|
||
size_t perimeter_size = perimeter.end_index - perimeter.start_index;
|
||
const auto next_index = [&](size_t idx) { return perimeter.start_index + Slic3r::next_idx_modulo(idx - perimeter.start_index, perimeter_size); };
|
||
|
||
std::vector<size_t> patches_starts_ends;
|
||
for (size_t i = perimeter.start_index; i < perimeter.end_index; ++i) {
|
||
if (result.points[i].type != EnforcedBlockedSeamPoint::Enforced && result.points[next_index(i)].type == EnforcedBlockedSeamPoint::Enforced) {
|
||
patches_starts_ends.push_back(next_index(i));
|
||
}
|
||
if (result.points[i].type == EnforcedBlockedSeamPoint::Enforced && result.points[next_index(i)].type != EnforcedBlockedSeamPoint::Enforced) {
|
||
patches_starts_ends.push_back(next_index(i));
|
||
}
|
||
}
|
||
// if patches_starts_ends are empty, it means that the whole perimeter is enforced.. don't do anything in that case
|
||
if (!patches_starts_ends.empty()) {
|
||
// if the first point in the patches is not enforced, it marks a patch end. in that case, put it to the end and start on next
|
||
// to simplify the processing
|
||
assert(patches_starts_ends.size() % 2 == 0);
|
||
bool start_on_second = false;
|
||
if (result.points[patches_starts_ends[0]].type != EnforcedBlockedSeamPoint::Enforced) {
|
||
start_on_second = true;
|
||
patches_starts_ends.push_back(patches_starts_ends[0]);
|
||
}
|
||
// now pick the longest patch
|
||
std::pair<size_t, size_t> longest_patch{0, 0};
|
||
auto patch_len = [perimeter_size](const std::pair<size_t, size_t> &start_end) {
|
||
if (start_end.second < start_end.first) {
|
||
return start_end.first + (perimeter_size - start_end.second);
|
||
} else {
|
||
return start_end.second - start_end.first;
|
||
}
|
||
};
|
||
for (size_t patch_idx = start_on_second ? 1 : 0; patch_idx < patches_starts_ends.size(); patch_idx += 2) {
|
||
std::pair<size_t, size_t> current_patch{patches_starts_ends[patch_idx], patches_starts_ends[patch_idx + 1]};
|
||
if (patch_len(longest_patch) < patch_len(current_patch)) { longest_patch = current_patch; }
|
||
}
|
||
std::vector<size_t> viable_points_indices;
|
||
std::vector<size_t> large_angle_points_indices;
|
||
for (size_t point_idx = longest_patch.first; point_idx != longest_patch.second; point_idx = next_index(point_idx)) {
|
||
viable_points_indices.push_back(point_idx);
|
||
if (std::abs(result.points[point_idx].local_ccw_angle) > SeamPlacer::sharp_angle_snapping_threshold) { large_angle_points_indices.push_back(point_idx); }
|
||
}
|
||
assert(viable_points_indices.size() > 0);
|
||
if (large_angle_points_indices.empty()) {
|
||
size_t central_idx = viable_points_indices[viable_points_indices.size() / 2];
|
||
result.points[central_idx].central_enforcer = true;
|
||
} else {
|
||
size_t central_idx = large_angle_points_indices.size() / 2;
|
||
result.points[large_angle_points_indices[central_idx]].central_enforcer = true;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
// Get index of previous and next perimeter point of the layer. Because SeamCandidates of all polygons of the given layer
|
||
// are sequentially stored in the vector, each perimeter contains info about start and end index. These vales are used to
|
||
// deduce index of previous and next neigbour in the corresponding perimeter.
|
||
std::pair<size_t, size_t> find_previous_and_next_perimeter_point(const std::vector<SeamCandidate> &perimeter_points, size_t point_index)
|
||
{
|
||
const SeamCandidate ¤t = perimeter_points[point_index];
|
||
int prev = point_index - 1; // for majority of points, it is true that neighbours lie behind and in front of them in the vector
|
||
int next = point_index + 1;
|
||
|
||
if (point_index == current.perimeter.start_index) {
|
||
// if point_index is equal to start, it means that the previous neighbour is at the end
|
||
prev = current.perimeter.end_index;
|
||
}
|
||
|
||
if (point_index == current.perimeter.end_index - 1) {
|
||
// if point_index is equal to end, than next neighbour is at the start
|
||
next = current.perimeter.start_index;
|
||
}
|
||
|
||
assert(prev >= 0);
|
||
assert(next >= 0);
|
||
return {size_t(prev), size_t(next)};
|
||
}
|
||
|
||
// Computes all global model info - transforms object, performs raycasting
|
||
void compute_global_occlusion(GlobalModelInfo &result, const PrintObject *po, std::function<void(void)> throw_if_canceled)
|
||
{
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: gather occlusion meshes: start";
|
||
auto obj_transform = po->trafo_centered();
|
||
indexed_triangle_set triangle_set;
|
||
indexed_triangle_set negative_volumes_set;
|
||
// add all parts
|
||
for (const ModelVolume *model_volume : po->model_object()->volumes) {
|
||
if (model_volume->type() == ModelVolumeType::MODEL_PART || model_volume->type() == ModelVolumeType::NEGATIVE_VOLUME) {
|
||
auto model_transformation = model_volume->get_matrix();
|
||
indexed_triangle_set model_its = model_volume->mesh().its;
|
||
its_transform(model_its, model_transformation);
|
||
if (model_volume->type() == ModelVolumeType::MODEL_PART) {
|
||
its_merge(triangle_set, model_its);
|
||
} else {
|
||
its_merge(negative_volumes_set, model_its);
|
||
}
|
||
}
|
||
}
|
||
throw_if_canceled();
|
||
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: gather occlusion meshes: end";
|
||
|
||
BOOST_LOG_TRIVIAL(debug)
|
||
<< "SeamPlacer: decimate: start";
|
||
its_short_edge_collpase(triangle_set, SeamPlacer::fast_decimation_triangle_count_target);
|
||
its_short_edge_collpase(negative_volumes_set, SeamPlacer::fast_decimation_triangle_count_target);
|
||
|
||
size_t negative_volumes_start_index = triangle_set.indices.size();
|
||
its_merge(triangle_set, negative_volumes_set);
|
||
its_transform(triangle_set, obj_transform);
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: decimate: end";
|
||
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: Compute visibility sample points: start";
|
||
|
||
result.mesh_samples = sample_its_uniform_parallel(SeamPlacer::raycasting_visibility_samples_count, triangle_set);
|
||
result.mesh_samples_coordinate_functor = CoordinateFunctor(&result.mesh_samples.positions);
|
||
result.mesh_samples_tree = KDTreeIndirect<3, float, CoordinateFunctor>(result.mesh_samples_coordinate_functor, result.mesh_samples.positions.size());
|
||
|
||
// The following code determines search area for random visibility samples on the mesh when calculating visibility of each perimeter point
|
||
// number of random samples in the given radius (area) is approximately poisson distribution
|
||
// to compute ideal search radius (area), we use exponential distribution (complementary distr to poisson)
|
||
// parameters of exponential distribution to compute area that will have with probability="probability" more than given number of samples="samples"
|
||
float probability = 0.9f;
|
||
float samples = 4;
|
||
float density = SeamPlacer::raycasting_visibility_samples_count / result.mesh_samples.total_area;
|
||
// exponential probability distrubtion function is : f(x) = P(X > x) = e^(l*x) where l is the rate parameter (computed as 1/u where u is mean value)
|
||
// probability that sampled area A with S samples contains more than samples count:
|
||
// P(S > samples in A) = e^-(samples/(density*A)); express A:
|
||
float search_area = samples / (-logf(probability) * density);
|
||
float search_radius = sqrt(search_area / PI);
|
||
result.mesh_samples_radius = search_radius;
|
||
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: Compute visiblity sample points: end";
|
||
throw_if_canceled();
|
||
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: Mesh sample raidus: " << result.mesh_samples_radius;
|
||
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: build AABB tree: start";
|
||
auto raycasting_tree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(triangle_set.vertices, triangle_set.indices);
|
||
|
||
throw_if_canceled();
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: build AABB tree: end";
|
||
result.mesh_samples_visibility = raycast_visibility(raycasting_tree, triangle_set, result.mesh_samples, negative_volumes_start_index);
|
||
throw_if_canceled();
|
||
#ifdef DEBUG_FILES
|
||
result.debug_export(triangle_set);
|
||
#endif
|
||
}
|
||
|
||
void gather_enforcers_blockers(GlobalModelInfo &result, const PrintObject *po)
|
||
{
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: build AABB trees for raycasting enforcers/blockers: start";
|
||
|
||
auto obj_transform = po->trafo_centered();
|
||
|
||
for (const ModelVolume *mv : po->model_object()->volumes) {
|
||
if (mv->is_seam_painted()) {
|
||
auto model_transformation = obj_transform * mv->get_matrix();
|
||
|
||
indexed_triangle_set enforcers = mv->seam_facets.get_facets(*mv, EnforcerBlockerType::ENFORCER);
|
||
its_transform(enforcers, model_transformation);
|
||
its_merge(result.enforcers, enforcers);
|
||
|
||
indexed_triangle_set blockers = mv->seam_facets.get_facets(*mv, EnforcerBlockerType::BLOCKER);
|
||
its_transform(blockers, model_transformation);
|
||
its_merge(result.blockers, blockers);
|
||
}
|
||
}
|
||
|
||
result.enforcers_tree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(result.enforcers.vertices, result.enforcers.indices);
|
||
result.blockers_tree = AABBTreeIndirect::build_aabb_tree_over_indexed_triangle_set(result.blockers.vertices, result.blockers.indices);
|
||
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: build AABB trees for raycasting enforcers/blockers: end";
|
||
}
|
||
|
||
struct SeamComparator
|
||
{
|
||
SeamPosition setup;
|
||
float angle_importance;
|
||
explicit SeamComparator(SeamPosition setup) : setup(setup)
|
||
{
|
||
angle_importance = setup == spNearest ? SeamPlacer::angle_importance_nearest : SeamPlacer::angle_importance_aligned;
|
||
}
|
||
|
||
// Standard comparator, must respect the requirements of comparators (e.g. give same result on same inputs) for sorting usage
|
||
// should return if a is better seamCandidate than b
|
||
bool is_first_better(const SeamCandidate &a, const SeamCandidate &b, const Vec2f &preffered_location = Vec2f{0.0f, 0.0f}) const
|
||
{
|
||
if (setup == SeamPosition::spAligned && a.central_enforcer != b.central_enforcer) { return a.central_enforcer; }
|
||
|
||
// Blockers/Enforcers discrimination, top priority
|
||
if (a.type != b.type) { return a.type > b.type; }
|
||
|
||
// avoid overhangs
|
||
if (a.overhang > 0.0f || b.overhang > 0.0f) { return a.overhang < b.overhang; }
|
||
|
||
// prefer hidden points (more than 0.5 mm inside)
|
||
if (a.embedded_distance < -0.5f && b.embedded_distance > -0.5f) { return true; }
|
||
if (b.embedded_distance < -0.5f && a.embedded_distance > -0.5f) { return false; }
|
||
|
||
if (setup == SeamPosition::spRear && a.position.y() != b.position.y()) { return a.position.y() > b.position.y(); }
|
||
|
||
float distance_penalty_a = 0.0f;
|
||
float distance_penalty_b = 0.0f;
|
||
if (setup == spNearest) {
|
||
distance_penalty_a = 1.0f - gauss((a.position.head<2>() - preffered_location).norm(), 0.0f, 1.0f, 0.005f);
|
||
distance_penalty_b = 1.0f - gauss((b.position.head<2>() - preffered_location).norm(), 0.0f, 1.0f, 0.005f);
|
||
}
|
||
|
||
// the penalites are kept close to range [0-1.x] however, it should not be relied upon
|
||
float penalty_a = a.overhang + a.visibility + angle_importance * compute_angle_penalty(a.local_ccw_angle) + distance_penalty_a;
|
||
float penalty_b = b.overhang + b.visibility + angle_importance * compute_angle_penalty(b.local_ccw_angle) + distance_penalty_b;
|
||
|
||
return penalty_a < penalty_b;
|
||
}
|
||
|
||
// Comparator used during alignment. If there is close potential aligned point, it is compared to the current
|
||
// seam point of the perimeter, to find out if the aligned point is not much worse than the current seam
|
||
// Also used by the random seam generator.
|
||
bool is_first_not_much_worse(const SeamCandidate &a, const SeamCandidate &b) const
|
||
{
|
||
// Blockers/Enforcers discrimination, top priority
|
||
if (setup == SeamPosition::spAligned && a.central_enforcer != b.central_enforcer) {
|
||
// Prefer centers of enforcers.
|
||
return a.central_enforcer;
|
||
}
|
||
|
||
if (a.type == EnforcedBlockedSeamPoint::Enforced) { return true; }
|
||
|
||
if (a.type == EnforcedBlockedSeamPoint::Blocked) { return false; }
|
||
|
||
if (a.type != b.type) { return a.type > b.type; }
|
||
|
||
// avoid overhangs
|
||
if ((a.overhang > 0.0f || b.overhang > 0.0f) && abs(a.overhang - b.overhang) > (0.1f * a.perimeter.flow_width)) { return a.overhang < b.overhang; }
|
||
|
||
// prefer hidden points (more than 0.5 mm inside)
|
||
if (a.embedded_distance < -0.5f && b.embedded_distance > -0.5f) { return true; }
|
||
if (b.embedded_distance < -0.5f && a.embedded_distance > -0.5f) { return false; }
|
||
|
||
if (setup == SeamPosition::spRandom) { return true; }
|
||
|
||
if (setup == SeamPosition::spRear) { return a.position.y() + SeamPlacer::seam_align_score_tolerance * 5.0f > b.position.y(); }
|
||
|
||
float penalty_a = a.overhang + a.visibility + angle_importance * compute_angle_penalty(a.local_ccw_angle);
|
||
float penalty_b = b.overhang + b.visibility + angle_importance * compute_angle_penalty(b.local_ccw_angle);
|
||
|
||
return penalty_a <= penalty_b || penalty_a - penalty_b < SeamPlacer::seam_align_score_tolerance;
|
||
}
|
||
|
||
bool are_similar(const SeamCandidate &a, const SeamCandidate &b) const { return is_first_not_much_worse(a, b) && is_first_not_much_worse(b, a); }
|
||
};
|
||
|
||
#ifdef DEBUG_FILES
|
||
void debug_export_points(const std::vector<PrintObjectSeamData::LayerSeams> &layers, const BoundingBox &bounding_box, const SeamComparator &comparator)
|
||
{
|
||
for (size_t layer_idx = 0; layer_idx < layers.size(); ++layer_idx) {
|
||
std::string angles_file_name = debug_out_path(("angles_" + std::to_string(layer_idx) + ".svg").c_str());
|
||
SVG angles_svg{angles_file_name, bounding_box};
|
||
float min_vis = 0;
|
||
float max_vis = min_vis;
|
||
|
||
float min_weight = std::numeric_limits<float>::min();
|
||
float max_weight = min_weight;
|
||
|
||
for (const SeamCandidate &point : layers[layer_idx].points) {
|
||
Vec3i color = value_to_rgbi(-PI, PI, point.local_ccw_angle);
|
||
std::string fill = "rgb(" + std::to_string(color.x()) + "," + std::to_string(color.y()) + "," + std::to_string(color.z()) + ")";
|
||
angles_svg.draw(scaled(Vec2f(point.position.head<2>())), fill);
|
||
min_vis = std::min(min_vis, point.visibility);
|
||
max_vis = std::max(max_vis, point.visibility);
|
||
|
||
min_weight = std::min(min_weight, -compute_angle_penalty(point.local_ccw_angle));
|
||
max_weight = std::max(max_weight, -compute_angle_penalty(point.local_ccw_angle));
|
||
}
|
||
|
||
std::string visiblity_file_name = debug_out_path(("visibility_" + std::to_string(layer_idx) + ".svg").c_str());
|
||
SVG visibility_svg{visiblity_file_name, bounding_box};
|
||
std::string weights_file_name = debug_out_path(("weight_" + std::to_string(layer_idx) + ".svg").c_str());
|
||
SVG weight_svg{weights_file_name, bounding_box};
|
||
std::string overhangs_file_name = debug_out_path(("overhang_" + std::to_string(layer_idx) + ".svg").c_str());
|
||
SVG overhangs_svg{overhangs_file_name, bounding_box};
|
||
|
||
for (const SeamCandidate &point : layers[layer_idx].points) {
|
||
Vec3i color = value_to_rgbi(min_vis, max_vis, point.visibility);
|
||
std::string visibility_fill = "rgb(" + std::to_string(color.x()) + "," + std::to_string(color.y()) + "," + std::to_string(color.z()) + ")";
|
||
visibility_svg.draw(scaled(Vec2f(point.position.head<2>())), visibility_fill);
|
||
|
||
Vec3i weight_color = value_to_rgbi(min_weight, max_weight, -compute_angle_penalty(point.local_ccw_angle));
|
||
std::string weight_fill = "rgb(" + std::to_string(weight_color.x()) + "," + std::to_string(weight_color.y()) + "," + std::to_string(weight_color.z()) + ")";
|
||
weight_svg.draw(scaled(Vec2f(point.position.head<2>())), weight_fill);
|
||
|
||
Vec3i overhang_color = value_to_rgbi(-0.5, 0.5, std::clamp(point.overhang, -0.5f, 0.5f));
|
||
std::string overhang_fill = "rgb(" + std::to_string(overhang_color.x()) + "," + std::to_string(overhang_color.y()) + "," + std::to_string(overhang_color.z()) + ")";
|
||
overhangs_svg.draw(scaled(Vec2f(point.position.head<2>())), overhang_fill);
|
||
}
|
||
}
|
||
}
|
||
#endif
|
||
|
||
// Pick best seam point based on the given comparator
|
||
void pick_seam_point(std::vector<SeamCandidate> &perimeter_points, size_t start_index, const SeamComparator &comparator)
|
||
{
|
||
size_t end_index = perimeter_points[start_index].perimeter.end_index;
|
||
|
||
size_t seam_index = start_index;
|
||
for (size_t index = start_index; index < end_index; ++index) {
|
||
if (comparator.is_first_better(perimeter_points[index], perimeter_points[seam_index])) { seam_index = index; }
|
||
}
|
||
perimeter_points[start_index].perimeter.seam_index = seam_index;
|
||
}
|
||
|
||
size_t pick_nearest_seam_point_index(const std::vector<SeamCandidate> &perimeter_points, size_t start_index, const Vec2f &preffered_location)
|
||
{
|
||
size_t end_index = perimeter_points[start_index].perimeter.end_index;
|
||
SeamComparator comparator{spNearest};
|
||
|
||
size_t seam_index = start_index;
|
||
for (size_t index = start_index; index < end_index; ++index) {
|
||
if (comparator.is_first_better(perimeter_points[index], perimeter_points[seam_index], preffered_location)) { seam_index = index; }
|
||
}
|
||
return seam_index;
|
||
}
|
||
|
||
// picks random seam point uniformly, respecting enforcers blockers and overhang avoidance.
|
||
void pick_random_seam_point(const std::vector<SeamCandidate> &perimeter_points, size_t start_index)
|
||
{
|
||
SeamComparator comparator{spRandom};
|
||
|
||
// algorithm keeps a list of viable points and their lengths. If it finds a point
|
||
// that is much better than the viable_example_index (e.g. better type, no overhang; see is_first_not_much_worse)
|
||
// then it throws away stored lists and starts from start
|
||
// in the end, the list should contain points with same type (Enforced > Neutral > Blocked) and also only those which are not
|
||
// big overhang.
|
||
size_t viable_example_index = start_index;
|
||
size_t end_index = perimeter_points[start_index].perimeter.end_index;
|
||
struct Viable
|
||
{
|
||
// Candidate seam point index.
|
||
size_t index;
|
||
float edge_length;
|
||
Vec3f edge;
|
||
};
|
||
std::vector<Viable> viables;
|
||
|
||
const Vec3f pseudornd_seed = perimeter_points[viable_example_index].position;
|
||
float rand = std::abs(sin(pseudornd_seed.dot(Vec3f(12.9898f, 78.233f, 133.3333f))) * 43758.5453f);
|
||
rand = rand - (int) rand;
|
||
|
||
for (size_t index = start_index; index < end_index; ++index) {
|
||
if (comparator.are_similar(perimeter_points[index], perimeter_points[viable_example_index])) {
|
||
// index ok, push info into viables
|
||
Vec3f edge_to_next{perimeter_points[index == end_index - 1 ? start_index : index + 1].position - perimeter_points[index].position};
|
||
float dist_to_next = edge_to_next.norm();
|
||
viables.push_back({index, dist_to_next, edge_to_next});
|
||
} else if (comparator.is_first_not_much_worse(perimeter_points[viable_example_index], perimeter_points[index])) {
|
||
// index is worse then viable_example_index, skip this point
|
||
} else {
|
||
// index is better than viable example index, update example, clear gathered info, start again
|
||
// clear up all gathered info, start from scratch, update example index
|
||
viable_example_index = index;
|
||
viables.clear();
|
||
|
||
Vec3f edge_to_next = (perimeter_points[index == end_index - 1 ? start_index : index + 1].position - perimeter_points[index].position);
|
||
float dist_to_next = edge_to_next.norm();
|
||
viables.push_back({index, dist_to_next, edge_to_next});
|
||
}
|
||
}
|
||
|
||
// now pick random point from the stored options
|
||
float len_sum = std::accumulate(viables.begin(), viables.end(), 0.0f, [](const float acc, const Viable &v) { return acc + v.edge_length; });
|
||
float picked_len = len_sum * rand;
|
||
|
||
size_t point_idx = 0;
|
||
while (picked_len - viables[point_idx].edge_length > 0) {
|
||
picked_len = picked_len - viables[point_idx].edge_length;
|
||
point_idx++;
|
||
}
|
||
|
||
Perimeter &perimeter = perimeter_points[start_index].perimeter;
|
||
perimeter.seam_index = viables[point_idx].index;
|
||
perimeter.final_seam_position = perimeter_points[perimeter.seam_index].position + viables[point_idx].edge.normalized() * picked_len;
|
||
perimeter.finalized = true;
|
||
}
|
||
|
||
class PerimeterDistancer
|
||
{
|
||
std::vector<Linef> lines;
|
||
AABBTreeIndirect::Tree<2, double> tree;
|
||
|
||
public:
|
||
PerimeterDistancer(const Layer *layer)
|
||
{
|
||
ExPolygons layer_outline = layer->lslices;
|
||
for (const ExPolygon &island : layer_outline) {
|
||
assert(island.contour.is_counter_clockwise());
|
||
for (const auto &line : island.contour.lines()) { lines.emplace_back(unscale(line.a), unscale(line.b)); }
|
||
for (const Polygon &hole : island.holes) {
|
||
assert(hole.is_clockwise());
|
||
for (const auto &line : hole.lines()) { lines.emplace_back(unscale(line.a), unscale(line.b)); }
|
||
}
|
||
}
|
||
tree = AABBTreeLines::build_aabb_tree_over_indexed_lines(lines);
|
||
}
|
||
|
||
float distance_from_perimeter(const Vec2f &point) const
|
||
{
|
||
Vec2d p = point.cast<double>();
|
||
size_t hit_idx_out{};
|
||
Vec2d hit_point_out = Vec2d::Zero();
|
||
auto distance = AABBTreeLines::squared_distance_to_indexed_lines(lines, tree, p, hit_idx_out, hit_point_out);
|
||
if (distance < 0) { return std::numeric_limits<float>::max(); }
|
||
|
||
distance = sqrt(distance);
|
||
const Linef &line = lines[hit_idx_out];
|
||
Vec2d v1 = line.b - line.a;
|
||
Vec2d v2 = p - line.a;
|
||
if ((v1.x() * v2.y()) - (v1.y() * v2.x()) > 0.0) { distance *= -1; }
|
||
return distance;
|
||
}
|
||
};
|
||
|
||
} // namespace SeamPlacerImpl
|
||
|
||
// Parallel process and extract each perimeter polygon of the given print object.
|
||
// Gather SeamCandidates of each layer into vector and build KDtree over them
|
||
// Store results in the SeamPlacer variables m_seam_per_object
|
||
void SeamPlacer::gather_seam_candidates(const PrintObject *po, const SeamPlacerImpl::GlobalModelInfo &global_model_info, const SeamPosition configured_seam_preference)
|
||
{
|
||
using namespace SeamPlacerImpl;
|
||
PrintObjectSeamData &seam_data = m_seam_per_object.emplace(po, PrintObjectSeamData{}).first->second;
|
||
seam_data.layers.resize(po->layer_count());
|
||
|
||
tbb::parallel_for(tbb::blocked_range<size_t>(0, po->layers().size()), [po, configured_seam_preference, &global_model_info, &seam_data](tbb::blocked_range<size_t> r) {
|
||
for (size_t layer_idx = r.begin(); layer_idx < r.end(); ++layer_idx) {
|
||
PrintObjectSeamData::LayerSeams &layer_seams = seam_data.layers[layer_idx];
|
||
const Layer * layer = po->get_layer(layer_idx);
|
||
auto unscaled_z = layer->slice_z;
|
||
std::vector<const LayerRegion *> regions;
|
||
// NOTE corresponding region ptr may be null, if the layer has zero perimeters
|
||
Polygons polygons = extract_perimeter_polygons(layer, configured_seam_preference, regions);
|
||
for (size_t poly_index = 0; poly_index < polygons.size(); ++poly_index) {
|
||
process_perimeter_polygon(polygons[poly_index], unscaled_z, regions[poly_index], global_model_info, layer_seams);
|
||
}
|
||
auto functor = SeamCandidateCoordinateFunctor{layer_seams.points};
|
||
seam_data.layers[layer_idx].points_tree = std::make_unique<PrintObjectSeamData::SeamCandidatesTree>(functor, layer_seams.points.size());
|
||
}
|
||
});
|
||
}
|
||
|
||
void SeamPlacer::calculate_candidates_visibility(const PrintObject *po, const SeamPlacerImpl::GlobalModelInfo &global_model_info)
|
||
{
|
||
using namespace SeamPlacerImpl;
|
||
|
||
std::vector<PrintObjectSeamData::LayerSeams> &layers = m_seam_per_object[po].layers;
|
||
tbb::parallel_for(tbb::blocked_range<size_t>(0, layers.size()), [&layers, &global_model_info](tbb::blocked_range<size_t> r) {
|
||
for (size_t layer_idx = r.begin(); layer_idx < r.end(); ++layer_idx) {
|
||
for (auto &perimeter_point : layers[layer_idx].points) { perimeter_point.visibility = global_model_info.calculate_point_visibility(perimeter_point.position); }
|
||
}
|
||
});
|
||
}
|
||
|
||
void SeamPlacer::calculate_overhangs_and_layer_embedding(const PrintObject *po)
|
||
{
|
||
using namespace SeamPlacerImpl;
|
||
|
||
std::vector<PrintObjectSeamData::LayerSeams> &layers = m_seam_per_object[po].layers;
|
||
tbb::parallel_for(tbb::blocked_range<size_t>(0, layers.size()), [po, &layers](tbb::blocked_range<size_t> r) {
|
||
std::unique_ptr<PerimeterDistancer> prev_layer_distancer;
|
||
if (r.begin() > 0) { // previous layer exists
|
||
prev_layer_distancer = std::make_unique<PerimeterDistancer>(po->layers()[r.begin() - 1]);
|
||
}
|
||
|
||
for (size_t layer_idx = r.begin(); layer_idx < r.end(); ++layer_idx) {
|
||
size_t regions_with_perimeter = 0;
|
||
for (const LayerRegion *region : po->layers()[layer_idx]->regions()) {
|
||
if (region->perimeters.entities.size() > 0) { regions_with_perimeter++; }
|
||
};
|
||
bool should_compute_layer_embedding = regions_with_perimeter > 1;
|
||
std::unique_ptr<PerimeterDistancer> current_layer_distancer = std::make_unique<PerimeterDistancer>(po->layers()[layer_idx]);
|
||
|
||
for (SeamCandidate &perimeter_point : layers[layer_idx].points) {
|
||
Vec2f point = Vec2f{perimeter_point.position.head<2>()};
|
||
if (prev_layer_distancer.get() != nullptr) {
|
||
perimeter_point.overhang = prev_layer_distancer->distance_from_perimeter(point) + 0.6f * perimeter_point.perimeter.flow_width -
|
||
tan(SeamPlacer::overhang_angle_threshold) * po->layers()[layer_idx]->height;
|
||
perimeter_point.overhang = perimeter_point.overhang < 0.0f ? 0.0f : perimeter_point.overhang;
|
||
}
|
||
|
||
if (should_compute_layer_embedding) { // search for embedded perimeter points (points hidden inside the print ,e.g. multimaterial join, best position for seam)
|
||
perimeter_point.embedded_distance = current_layer_distancer->distance_from_perimeter(point) + 0.6f * perimeter_point.perimeter.flow_width;
|
||
}
|
||
}
|
||
|
||
prev_layer_distancer.swap(current_layer_distancer);
|
||
}
|
||
});
|
||
}
|
||
|
||
// Estimates, if there is good seam point in the layer_idx which is close to last_point_pos
|
||
// uses comparator.is_first_not_much_worse method to compare current seam with the closest point
|
||
// (if current seam is too far away )
|
||
// If the current chosen stream is close enough, it is stored in seam_string. returns true and updates last_point_pos
|
||
// If the closest point is good enough to replace current chosen seam, it is stored in potential_string_seams, returns true and updates last_point_pos
|
||
// Otherwise does nothing, returns false
|
||
// Used by align_seam_points().
|
||
std::optional<std::pair<size_t, size_t>> SeamPlacer::find_next_seam_in_layer(const std::vector<PrintObjectSeamData::LayerSeams> &layers,
|
||
const Vec3f & projected_position,
|
||
const size_t layer_idx,
|
||
const float max_distance,
|
||
const SeamPlacerImpl::SeamComparator & comparator) const
|
||
{
|
||
using namespace SeamPlacerImpl;
|
||
std::vector<size_t> nearby_points_indices = find_nearby_points(*layers[layer_idx].points_tree, projected_position, max_distance);
|
||
|
||
if (nearby_points_indices.empty()) { return {}; }
|
||
|
||
size_t best_nearby_point_index = nearby_points_indices[0];
|
||
size_t nearest_point_index = nearby_points_indices[0];
|
||
|
||
// Now find best nearby point, nearest point, and corresponding indices
|
||
for (const size_t &nearby_point_index : nearby_points_indices) {
|
||
const SeamCandidate &point = layers[layer_idx].points[nearby_point_index];
|
||
if (point.perimeter.finalized) {
|
||
continue; // skip over finalized perimeters, try to find some that is not finalized
|
||
}
|
||
if (comparator.is_first_better(point, layers[layer_idx].points[best_nearby_point_index], projected_position.head<2>()) ||
|
||
layers[layer_idx].points[best_nearby_point_index].perimeter.finalized) {
|
||
best_nearby_point_index = nearby_point_index;
|
||
}
|
||
if ((point.position - projected_position).squaredNorm() < (layers[layer_idx].points[nearest_point_index].position - projected_position).squaredNorm() ||
|
||
layers[layer_idx].points[nearest_point_index].perimeter.finalized) {
|
||
nearest_point_index = nearby_point_index;
|
||
}
|
||
}
|
||
|
||
const SeamCandidate &best_nearby_point = layers[layer_idx].points[best_nearby_point_index];
|
||
const SeamCandidate &nearest_point = layers[layer_idx].points[nearest_point_index];
|
||
|
||
if (nearest_point.perimeter.finalized) {
|
||
// all points are from already finalized perimeter, skip
|
||
return {};
|
||
}
|
||
|
||
// from the nearest_point, deduce index of seam in the next layer
|
||
const SeamCandidate &next_layer_seam = layers[layer_idx].points[nearest_point.perimeter.seam_index];
|
||
|
||
// First try to pick central enforcer if any present
|
||
if (next_layer_seam.central_enforcer && (next_layer_seam.position - projected_position).squaredNorm() < sqr(3 * max_distance)) {
|
||
return {std::pair<size_t, size_t>{layer_idx, nearest_point.perimeter.seam_index}};
|
||
}
|
||
|
||
// First try to align the nearest, then try the best nearby
|
||
if (comparator.is_first_not_much_worse(nearest_point, next_layer_seam)) { return {std::pair<size_t, size_t>{layer_idx, nearest_point_index}}; }
|
||
// If nearest point is not good enough, try it with the best nearby point.
|
||
if (comparator.is_first_not_much_worse(best_nearby_point, next_layer_seam)) { return {std::pair<size_t, size_t>{layer_idx, best_nearby_point_index}}; }
|
||
|
||
return {};
|
||
}
|
||
|
||
std::vector<std::pair<size_t, size_t>> SeamPlacer::find_seam_string(const PrintObject * po,
|
||
std::pair<size_t, size_t> start_seam,
|
||
const SeamPlacerImpl::SeamComparator &comparator) const
|
||
{
|
||
const std::vector<PrintObjectSeamData::LayerSeams> &layers = m_seam_per_object.find(po)->second.layers;
|
||
int layer_idx = start_seam.first;
|
||
|
||
// initialize searching for seam string - cluster of nearby seams on previous and next layers
|
||
int next_layer = layer_idx + 1;
|
||
int step = 1;
|
||
std::pair<size_t, size_t> prev_point_index = start_seam;
|
||
std::vector<std::pair<size_t, size_t>> seam_string{start_seam};
|
||
|
||
auto reverse_lookup_direction = [&]() {
|
||
step = -1;
|
||
prev_point_index = start_seam;
|
||
next_layer = layer_idx - 1;
|
||
};
|
||
|
||
while (next_layer >= 0) {
|
||
if (next_layer >= int(layers.size())) {
|
||
reverse_lookup_direction();
|
||
if (next_layer < 0) { break; }
|
||
}
|
||
float max_distance = SeamPlacer::seam_align_tolerable_dist_factor * layers[start_seam.first].points[start_seam.second].perimeter.flow_width;
|
||
Vec3f prev_position = layers[prev_point_index.first].points[prev_point_index.second].position;
|
||
Vec3f projected_position = prev_position;
|
||
projected_position.z() = float(po->get_layer(next_layer)->slice_z);
|
||
|
||
std::optional<std::pair<size_t, size_t>> maybe_next_seam = find_next_seam_in_layer(layers, projected_position, next_layer, max_distance, comparator);
|
||
|
||
if (maybe_next_seam.has_value()) {
|
||
// For old macOS (pre 10.14), std::optional does not have .value() method, so the code is using operator*() instead.
|
||
seam_string.push_back(maybe_next_seam.operator*());
|
||
prev_point_index = seam_string.back();
|
||
// String added, prev_point_index updated
|
||
} else {
|
||
if (step == 1) {
|
||
reverse_lookup_direction();
|
||
if (next_layer < 0) { break; }
|
||
} else {
|
||
break;
|
||
}
|
||
}
|
||
next_layer += step;
|
||
}
|
||
return seam_string;
|
||
}
|
||
|
||
// clusters already chosen seam points into strings across multiple layers, and then
|
||
// aligns the strings via polynomial fit
|
||
// Does not change the positions of the SeamCandidates themselves, instead stores
|
||
// the new aligned position into the shared Perimeter structure of each perimeter
|
||
// Note that this position does not necesarilly lay on the perimeter.
|
||
void SeamPlacer::align_seam_points(const PrintObject *po, const SeamPlacerImpl::SeamComparator &comparator)
|
||
{
|
||
using namespace SeamPlacerImpl;
|
||
|
||
// Prepares Debug files for writing.
|
||
#ifdef DEBUG_FILES
|
||
Slic3r::CNumericLocalesSetter locales_setter;
|
||
auto clusters_f = debug_out_path("seam_clusters.obj");
|
||
FILE * clusters = boost::nowide::fopen(clusters_f.c_str(), "w");
|
||
if (clusters == nullptr) {
|
||
BOOST_LOG_TRIVIAL(error) << "stl_write_obj: Couldn't open " << clusters_f << " for writing";
|
||
return;
|
||
}
|
||
auto aligned_f = debug_out_path("aligned_clusters.obj");
|
||
FILE *aligns = boost::nowide::fopen(aligned_f.c_str(), "w");
|
||
if (aligns == nullptr) {
|
||
BOOST_LOG_TRIVIAL(error) << "stl_write_obj: Couldn't open " << clusters_f << " for writing";
|
||
return;
|
||
}
|
||
#endif
|
||
|
||
// gather vector of all seams on the print_object - pair of layer_index and seam__index within that layer
|
||
const std::vector<PrintObjectSeamData::LayerSeams> &layers = m_seam_per_object[po].layers;
|
||
std::vector<std::pair<size_t, size_t>> seams;
|
||
for (size_t layer_idx = 0; layer_idx < layers.size(); ++layer_idx) {
|
||
const std::vector<SeamCandidate> &layer_perimeter_points = layers[layer_idx].points;
|
||
size_t current_point_index = 0;
|
||
while (current_point_index < layer_perimeter_points.size()) {
|
||
seams.emplace_back(layer_idx, layer_perimeter_points[current_point_index].perimeter.seam_index);
|
||
current_point_index = layer_perimeter_points[current_point_index].perimeter.end_index;
|
||
}
|
||
}
|
||
|
||
// sort them before alignment. Alignment is sensitive to initializaion, this gives it better chance to choose something nice
|
||
std::stable_sort(seams.begin(), seams.end(), [&comparator, &layers](const std::pair<size_t, size_t> &left, const std::pair<size_t, size_t> &right) {
|
||
return comparator.is_first_better(layers[left.first].points[left.second], layers[right.first].points[right.second]);
|
||
});
|
||
|
||
// align the seam points - start with the best, and check if they are aligned, if yes, skip, else start alignment
|
||
// Keeping the vectors outside, so with a bit of luck they will not get reallocated after couple of for loop iterations.
|
||
std::vector<std::pair<size_t, size_t>> seam_string;
|
||
std::vector<std::pair<size_t, size_t>> alternative_seam_string;
|
||
std::vector<Vec2f> observations;
|
||
std::vector<float> observation_points;
|
||
std::vector<float> weights;
|
||
|
||
int global_index = 0;
|
||
while (global_index < int(seams.size())) {
|
||
size_t layer_idx = seams[global_index].first;
|
||
size_t seam_index = seams[global_index].second;
|
||
global_index++;
|
||
const std::vector<SeamCandidate> &layer_perimeter_points = layers[layer_idx].points;
|
||
if (layer_perimeter_points[seam_index].perimeter.finalized) {
|
||
// This perimeter is already aligned, skip seam
|
||
continue;
|
||
} else {
|
||
seam_string = this->find_seam_string(po, {layer_idx, seam_index}, comparator);
|
||
size_t step_size = 1 + seam_string.size() / 20;
|
||
for (size_t alternative_start = 0; alternative_start < seam_string.size(); alternative_start += step_size) {
|
||
size_t start_layer_idx = seam_string[alternative_start].first;
|
||
size_t seam_idx = layers[start_layer_idx].points[seam_string[alternative_start].second].perimeter.seam_index;
|
||
alternative_seam_string = this->find_seam_string(po, std::pair<size_t, size_t>(start_layer_idx, seam_idx), comparator);
|
||
if (alternative_seam_string.size() > seam_string.size()) { seam_string = std::move(alternative_seam_string); }
|
||
}
|
||
if (seam_string.size() < seam_align_minimum_string_seams) {
|
||
// string NOT long enough to be worth aligning, skip
|
||
continue;
|
||
}
|
||
|
||
// String is long enough, all string seams and potential string seams gathered, now do the alignment
|
||
// sort by layer index
|
||
std::sort(seam_string.begin(), seam_string.end(),
|
||
[](const std::pair<size_t, size_t> &left, const std::pair<size_t, size_t> &right) { return left.first < right.first; });
|
||
|
||
// repeat the alignment for the current seam, since it could be skipped due to alternative path being aligned.
|
||
global_index--;
|
||
|
||
// gather all positions of seams and their weights
|
||
observations.resize(seam_string.size());
|
||
observation_points.resize(seam_string.size());
|
||
weights.resize(seam_string.size());
|
||
|
||
auto angle_3d = [](const Vec3f &a, const Vec3f &b) { return std::abs(acosf(a.normalized().dot(b.normalized()))); };
|
||
|
||
auto angle_weight = [](float angle) { return 1.0f / (0.1f + compute_angle_penalty(angle)); };
|
||
|
||
// gather points positions and weights
|
||
float total_length = 0.0f;
|
||
Vec3f last_point_pos = layers[seam_string[0].first].points[seam_string[0].second].position;
|
||
for (size_t index = 0; index < seam_string.size(); ++index) {
|
||
const SeamCandidate ¤t = layers[seam_string[index].first].points[seam_string[index].second];
|
||
float layer_angle = 0.0f;
|
||
if (index > 0 && index < seam_string.size() - 1) {
|
||
layer_angle = angle_3d(current.position - layers[seam_string[index - 1].first].points[seam_string[index - 1].second].position,
|
||
layers[seam_string[index + 1].first].points[seam_string[index + 1].second].position - current.position);
|
||
}
|
||
observations[index] = current.position.head<2>();
|
||
observation_points[index] = current.position.z();
|
||
weights[index] = angle_weight(current.local_ccw_angle);
|
||
float sign = layer_angle > 2.0 * std::abs(current.local_ccw_angle) ? -0.8f : 1.0f;
|
||
if (current.type == EnforcedBlockedSeamPoint::Enforced) {
|
||
sign = 1.0f;
|
||
weights[index] += 3.0f;
|
||
}
|
||
total_length += sign * (last_point_pos - current.position).norm();
|
||
last_point_pos = current.position;
|
||
}
|
||
|
||
// Curve Fitting
|
||
size_t number_of_segments = std::max(size_t(1), size_t(std::max(0.0f, total_length) / SeamPlacer::seam_align_mm_per_segment));
|
||
auto curve = Geometry::fit_cubic_bspline(observations, observation_points, weights, number_of_segments);
|
||
|
||
// Do alignment - compute fitted point for each point in the string from its Z coord, and store the position into
|
||
// Perimeter structure of the point; also set flag aligned to true
|
||
for (size_t index = 0; index < seam_string.size(); ++index) {
|
||
const auto &pair = seam_string[index];
|
||
float t = std::min(1.0f, std::pow(std::abs(layers[pair.first].points[pair.second].local_ccw_angle) / SeamPlacer::sharp_angle_snapping_threshold, 3.0f));
|
||
if (layers[pair.first].points[pair.second].type == EnforcedBlockedSeamPoint::Enforced) { t = std::max(0.4f, t); }
|
||
|
||
Vec3f current_pos = layers[pair.first].points[pair.second].position;
|
||
Vec2f fitted_pos = curve.get_fitted_value(current_pos.z());
|
||
|
||
// interpolate between current and fitted position, prefer current pos for large weights.
|
||
Vec3f final_position = t * current_pos + (1.0f - t) * to_3d(fitted_pos, current_pos.z());
|
||
|
||
Perimeter &perimeter = layers[pair.first].points[pair.second].perimeter;
|
||
perimeter.seam_index = pair.second;
|
||
perimeter.final_seam_position = final_position;
|
||
perimeter.finalized = true;
|
||
}
|
||
|
||
#ifdef DEBUG_FILES
|
||
auto randf = []() { return float(rand()) / float(RAND_MAX); };
|
||
Vec3f color{randf(), randf(), randf()};
|
||
for (size_t i = 0; i < seam_string.size(); ++i) {
|
||
auto orig_seam = layers[seam_string[i].first].points[seam_string[i].second];
|
||
fprintf(clusters, "v %f %f %f %f %f %f \n", orig_seam.position[0], orig_seam.position[1], orig_seam.position[2], color[0], color[1], color[2]);
|
||
}
|
||
|
||
color = Vec3f{randf(), randf(), randf()};
|
||
for (size_t i = 0; i < seam_string.size(); ++i) {
|
||
const Perimeter &perimeter = layers[seam_string[i].first].points[seam_string[i].second].perimeter;
|
||
fprintf(aligns, "v %f %f %f %f %f %f \n", perimeter.final_seam_position[0], perimeter.final_seam_position[1], perimeter.final_seam_position[2], color[0],
|
||
color[1], color[2]);
|
||
}
|
||
#endif
|
||
}
|
||
}
|
||
|
||
#ifdef DEBUG_FILES
|
||
fclose(clusters);
|
||
fclose(aligns);
|
||
#endif
|
||
}
|
||
|
||
void SeamPlacer::init(const Print &print, std::function<void(void)> throw_if_canceled_func)
|
||
{
|
||
using namespace SeamPlacerImpl;
|
||
m_seam_per_object.clear();
|
||
|
||
for (const PrintObject *po : print.objects()) {
|
||
throw_if_canceled_func();
|
||
SeamPosition configured_seam_preference = po->config().seam_position.value;
|
||
SeamComparator comparator{configured_seam_preference};
|
||
|
||
{
|
||
GlobalModelInfo global_model_info{};
|
||
gather_enforcers_blockers(global_model_info, po);
|
||
throw_if_canceled_func();
|
||
if (configured_seam_preference == spAligned || configured_seam_preference == spNearest) { compute_global_occlusion(global_model_info, po, throw_if_canceled_func); }
|
||
throw_if_canceled_func();
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: gather_seam_candidates: start";
|
||
gather_seam_candidates(po, global_model_info, configured_seam_preference);
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: gather_seam_candidates: end";
|
||
throw_if_canceled_func();
|
||
if (configured_seam_preference == spAligned || configured_seam_preference == spNearest) {
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: calculate_candidates_visibility : start";
|
||
calculate_candidates_visibility(po, global_model_info);
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: calculate_candidates_visibility : end";
|
||
}
|
||
} // destruction of global_model_info (large structure, no longer needed)
|
||
throw_if_canceled_func();
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: calculate_overhangs and layer embdedding : start";
|
||
calculate_overhangs_and_layer_embedding(po);
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: calculate_overhangs and layer embdedding: end";
|
||
throw_if_canceled_func();
|
||
if (configured_seam_preference != spNearest) { // For spNearest, the seam is picked in the place_seam method with actual nozzle position information
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: pick_seam_point : start";
|
||
// pick seam point
|
||
std::vector<PrintObjectSeamData::LayerSeams> &layers = m_seam_per_object[po].layers;
|
||
tbb::parallel_for(tbb::blocked_range<size_t>(0, layers.size()), [&layers, configured_seam_preference, comparator](tbb::blocked_range<size_t> r) {
|
||
for (size_t layer_idx = r.begin(); layer_idx < r.end(); ++layer_idx) {
|
||
std::vector<SeamCandidate> &layer_perimeter_points = layers[layer_idx].points;
|
||
for (size_t current = 0; current < layer_perimeter_points.size(); current = layer_perimeter_points[current].perimeter.end_index)
|
||
if (configured_seam_preference == spRandom)
|
||
pick_random_seam_point(layer_perimeter_points, current);
|
||
else
|
||
pick_seam_point(layer_perimeter_points, current, comparator);
|
||
}
|
||
});
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: pick_seam_point : end";
|
||
}
|
||
throw_if_canceled_func();
|
||
if (configured_seam_preference == spAligned || configured_seam_preference == spRear) {
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: align_seam_points : start";
|
||
align_seam_points(po, comparator);
|
||
BOOST_LOG_TRIVIAL(debug) << "SeamPlacer: align_seam_points : end";
|
||
}
|
||
|
||
#ifdef DEBUG_FILES
|
||
debug_export_points(m_seam_per_object[po].layers, po->bounding_box(), comparator);
|
||
#endif
|
||
}
|
||
}
|
||
|
||
void SeamPlacer::place_seam(const Layer *layer, ExtrusionLoop &loop, bool external_first, const Point &last_pos) const
|
||
{
|
||
using namespace SeamPlacerImpl;
|
||
const PrintObject *po = layer->object();
|
||
// Must not be called with supprot layer.
|
||
assert(dynamic_cast<const SupportLayer *>(layer) == nullptr);
|
||
// Object layer IDs are incremented by the number of raft layers.
|
||
assert(layer->id() >= po->slicing_parameters().raft_layers());
|
||
const size_t layer_index = layer->id() - po->slicing_parameters().raft_layers();
|
||
const double unscaled_z = layer->slice_z;
|
||
|
||
const PrintObjectSeamData::LayerSeams &layer_perimeters = m_seam_per_object.find(layer->object())->second.layers[layer_index];
|
||
|
||
// Find the closest perimeter in the SeamPlacer to the first point of this loop.
|
||
size_t closest_perimeter_point_index;
|
||
{
|
||
const Point &fp = loop.first_point();
|
||
Vec2f unscaled_p = unscaled<float>(fp);
|
||
closest_perimeter_point_index = find_closest_point(*layer_perimeters.points_tree.get(), to_3d(unscaled_p, float(unscaled_z)));
|
||
}
|
||
|
||
Vec3f seam_position;
|
||
size_t seam_index;
|
||
if (const Perimeter &perimeter = layer_perimeters.points[closest_perimeter_point_index].perimeter; perimeter.finalized) {
|
||
seam_position = perimeter.final_seam_position;
|
||
seam_index = perimeter.seam_index;
|
||
} else {
|
||
seam_index = po->config().seam_position == spNearest ? pick_nearest_seam_point_index(layer_perimeters.points, perimeter.start_index, unscaled<float>(last_pos)) :
|
||
perimeter.seam_index;
|
||
seam_position = layer_perimeters.points[seam_index].position;
|
||
}
|
||
|
||
Point seam_point = Point::new_scale(seam_position.x(), seam_position.y());
|
||
|
||
if (const SeamCandidate &perimeter_point = layer_perimeters.points[seam_index];
|
||
(po->config().seam_position == spNearest || po->config().seam_position == spAligned) && loop.role() == ExtrusionRole::erPerimeter && // Hopefully internal perimeter
|
||
(seam_position - perimeter_point.position).squaredNorm() < 4.0f && // seam is on perimeter point
|
||
perimeter_point.local_ccw_angle < -EPSILON // In concave angles
|
||
) { // In this case, we are at internal perimeter, where the external perimeter has seam in concave angle. We want to align
|
||
// the internal seam into the concave corner, and not on the perpendicular projection on the closest edge (which is what the split_at function does)
|
||
size_t index_of_prev = seam_index == perimeter_point.perimeter.start_index ? perimeter_point.perimeter.end_index - 1 : seam_index - 1;
|
||
size_t index_of_next = seam_index == perimeter_point.perimeter.end_index - 1 ? perimeter_point.perimeter.start_index : seam_index + 1;
|
||
|
||
Vec2f dir_to_middle = ((perimeter_point.position - layer_perimeters.points[index_of_prev].position).head<2>().normalized() +
|
||
(perimeter_point.position - layer_perimeters.points[index_of_next].position).head<2>().normalized()) *
|
||
0.5;
|
||
|
||
ExtrusionLoop::ClosestPathPoint projected_point = loop.get_closest_path_and_point(seam_point, true);
|
||
// get closest projected point, determine depth of the seam point.
|
||
float depth = (float) unscale(Point(seam_point - projected_point.foot_pt)).norm();
|
||
float angle_factor = cos(-perimeter_point.local_ccw_angle / 2.0f); // There are some nice geometric identities in determination of the correct depth of new seam point.
|
||
// overshoot the target depth, in concave angles it will correctly snap to the corner; TODO: find out why such big overshoot is needed.
|
||
Vec2f final_pos = perimeter_point.position.head<2>() + (1.4142 * depth / angle_factor) * dir_to_middle;
|
||
seam_point = Point::new_scale(final_pos.x(), final_pos.y());
|
||
}
|
||
|
||
// Because the G-code export has 1um resolution, don't generate segments shorter than 1.5 microns,
|
||
// thus empty path segments will not be produced by G-code export.
|
||
if (!loop.split_at_vertex(seam_point, scaled<double>(0.0015))) {
|
||
// The point is not in the original loop.
|
||
// Insert it.
|
||
loop.split_at(seam_point, true);
|
||
}
|
||
}
|
||
|
||
} // namespace Slic3r
|