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QIDISlicer/src/libslic3r/SupportSpotsGenerator.cpp

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QIDISlicer1.0.0
2023-06-10 10:14:12 +08:00
#include "SupportSpotsGenerator.hpp"
#include "BoundingBox.hpp"
#include "ExPolygon.hpp"
#include "ExtrusionEntity.hpp"
#include "ExtrusionEntityCollection.hpp"
#include "GCode/ExtrusionProcessor.hpp"
#include "Line.hpp"
#include "Point.hpp"
#include "Polygon.hpp"
#include "PrincipalComponents2D.hpp"
#include "Print.hpp"
#include "PrintBase.hpp"
#include "PrintConfig.hpp"
#include "Tesselate.hpp"
#include "Utils.hpp"
#include "libslic3r.h"
#include "tbb/parallel_for.h"
#include "tbb/blocked_range.h"
#include "tbb/blocked_range2d.h"
#include "tbb/parallel_reduce.h"
#include <algorithm>
#include <boost/log/trivial.hpp>
#include <cmath>
#include <cstddef>
#include <cstdio>
#include <functional>
#include <limits>
#include <math.h>
#include <oneapi/tbb/concurrent_vector.h>
#include <oneapi/tbb/parallel_for.h>
#include <optional>
#include <unordered_map>
#include <unordered_set>
#include <stack>
#include <utility>
#include <vector>
#include "AABBTreeLines.hpp"
#include "KDTreeIndirect.hpp"
#include "libslic3r/Layer.hpp"
#include "libslic3r/ClipperUtils.hpp"
#include "Geometry/ConvexHull.hpp"
// #define DETAILED_DEBUG_LOGS
// #define DEBUG_FILES
#ifdef DEBUG_FILES
#include <boost/nowide/cstdio.hpp>
#include "libslic3r/Color.hpp"
#endif
namespace Slic3r {
class ExtrusionLine
{
public:
ExtrusionLine() : a(Vec2f::Zero()), b(Vec2f::Zero()), len(0.0), origin_entity(nullptr) {}
ExtrusionLine(const Vec2f &a, const Vec2f &b, float len, const ExtrusionEntity *origin_entity)
: a(a), b(b), len(len), origin_entity(origin_entity)
{}
ExtrusionLine(const Vec2f &a, const Vec2f &b)
: a(a), b(b), len((a-b).norm()), origin_entity(nullptr)
{}
bool is_external_perimeter() const
{
assert(origin_entity != nullptr);
return origin_entity->role().is_external_perimeter();
}
Vec2f a;
Vec2f b;
float len;
const ExtrusionEntity *origin_entity;
std::optional<SupportSpotsGenerator::SupportPointCause> support_point_generated = {};
float form_quality = 1.0f;
float curled_up_height = 0.0f;
static const constexpr int Dim = 2;
using Scalar = Vec2f::Scalar;
};
auto get_a(ExtrusionLine &&l) { return l.a; }
auto get_b(ExtrusionLine &&l) { return l.b; }
namespace SupportSpotsGenerator {
using LD = AABBTreeLines::LinesDistancer<ExtrusionLine>;
struct SupportGridFilter
{
private:
Vec3f cell_size;
Vec3f origin;
Vec3f size;
Vec3i cell_count;
std::unordered_set<size_t> taken_cells{};
public:
SupportGridFilter(const PrintObject *po, float voxel_size)
{
cell_size = Vec3f(voxel_size, voxel_size, voxel_size);
Vec2crd size_half = po->size().head<2>().cwiseQuotient(Vec2crd(2, 2)) + Vec2crd::Ones();
Vec3f min = unscale(Vec3crd(-size_half.x(), -size_half.y(), 0)).cast<float>() - cell_size;
Vec3f max = unscale(Vec3crd(size_half.x(), size_half.y(), po->height())).cast<float>() + cell_size;
origin = min;
size = max - min;
cell_count = size.cwiseQuotient(cell_size).cast<int>() + Vec3i::Ones();
}
Vec3i to_cell_coords(const Vec3f &position) const
{
Vec3i cell_coords = (position - this->origin).cwiseQuotient(this->cell_size).cast<int>();
return cell_coords;
}
size_t to_cell_index(const Vec3i &cell_coords) const
{
#ifdef DETAILED_DEBUG_LOGS
assert(cell_coords.x() >= 0);
assert(cell_coords.x() < cell_count.x());
assert(cell_coords.y() >= 0);
assert(cell_coords.y() < cell_count.y());
assert(cell_coords.z() >= 0);
assert(cell_coords.z() < cell_count.z());
#endif
return cell_coords.z() * cell_count.x() * cell_count.y() + cell_coords.y() * cell_count.x() + cell_coords.x();
}
Vec3f get_cell_center(const Vec3i &cell_coords) const
{
return origin + cell_coords.cast<float>().cwiseProduct(this->cell_size) + this->cell_size.cwiseQuotient(Vec3f(2.0f, 2.0f, 2.0f));
}
void take_position(const Vec3f &position) { taken_cells.insert(to_cell_index(to_cell_coords(position))); }
bool position_taken(const Vec3f &position) const
{
return taken_cells.find(to_cell_index(to_cell_coords(position))) != taken_cells.end();
}
};
struct SliceConnection
{
float area{};
Vec3f centroid_accumulator = Vec3f::Zero();
Vec2f second_moment_of_area_accumulator = Vec2f::Zero();
float second_moment_of_area_covariance_accumulator{};
void add(const SliceConnection &other)
{
this->area += other.area;
this->centroid_accumulator += other.centroid_accumulator;
this->second_moment_of_area_accumulator += other.second_moment_of_area_accumulator;
this->second_moment_of_area_covariance_accumulator += other.second_moment_of_area_covariance_accumulator;
}
void print_info(const std::string &tag)
{
Vec3f centroid = centroid_accumulator / area;
Vec2f variance = (second_moment_of_area_accumulator / area - centroid.head<2>().cwiseProduct(centroid.head<2>()));
float covariance = second_moment_of_area_covariance_accumulator / area - centroid.x() * centroid.y();
std::cout << tag << std::endl;
std::cout << "area: " << area << std::endl;
std::cout << "centroid: " << centroid.x() << " " << centroid.y() << " " << centroid.z() << std::endl;
std::cout << "variance: " << variance.x() << " " << variance.y() << std::endl;
std::cout << "covariance: " << covariance << std::endl;
}
};
SliceConnection estimate_slice_connection(size_t slice_idx, const Layer *layer)
{
SliceConnection connection;
const LayerSlice &slice = layer->lslices_ex[slice_idx];
Polygons slice_polys = to_polygons(layer->lslices[slice_idx]);
BoundingBox slice_bb = get_extents(slice_polys);
const Layer *lower_layer = layer->lower_layer;
ExPolygons below{};
for (const auto &link : slice.overlaps_below) { below.push_back(lower_layer->lslices[link.slice_idx]); }
Polygons below_polys = to_polygons(below);
BoundingBox below_bb = get_extents(below_polys);
Polygons overlap = intersection(ClipperUtils::clip_clipper_polygons_with_subject_bbox(slice_polys, below_bb),
ClipperUtils::clip_clipper_polygons_with_subject_bbox(below_polys, slice_bb));
for (const Polygon &poly : overlap) {
Vec2f p0 = unscaled(poly.first_point()).cast<float>();
for (size_t i = 2; i < poly.points.size(); i++) {
Vec2f p1 = unscaled(poly.points[i - 1]).cast<float>();
Vec2f p2 = unscaled(poly.points[i]).cast<float>();
float sign = cross2(p1 - p0, p2 - p1) > 0 ? 1.0f : -1.0f;
auto [area, first_moment_of_area, second_moment_area,
second_moment_of_area_covariance] = compute_moments_of_area_of_triangle(p0, p1, p2);
connection.area += sign * area;
connection.centroid_accumulator += sign * Vec3f(first_moment_of_area.x(), first_moment_of_area.y(), layer->print_z * area);
connection.second_moment_of_area_accumulator += sign * second_moment_area;
connection.second_moment_of_area_covariance_accumulator += sign * second_moment_of_area_covariance;
}
}
return connection;
};
using PrecomputedSliceConnections = std::vector<std::vector<SliceConnection>>;
PrecomputedSliceConnections precompute_slices_connections(const PrintObject *po)
{
PrecomputedSliceConnections result{};
for (size_t lidx = 0; lidx < po->layer_count(); lidx++) {
result.emplace_back(std::vector<SliceConnection>{});
for (size_t slice_idx = 0; slice_idx < po->get_layer(lidx)->lslices_ex.size(); slice_idx++) {
result[lidx].push_back(SliceConnection{});
}
}
tbb::parallel_for(tbb::blocked_range<size_t>(0, po->layers().size()), [po, &result](tbb::blocked_range<size_t> r) {
for (size_t lidx = r.begin(); lidx < r.end(); lidx++) {
const Layer *l = po->get_layer(lidx);
tbb::parallel_for(tbb::blocked_range<size_t>(0, l->lslices_ex.size()), [lidx, l, &result](tbb::blocked_range<size_t> r2) {
for (size_t slice_idx = r2.begin(); slice_idx < r2.end(); slice_idx++) {
result[lidx][slice_idx] = estimate_slice_connection(slice_idx, l);
}
});
}
});
return result;
};
float get_flow_width(const LayerRegion *region, ExtrusionRole role)
{
if (role == ExtrusionRole::BridgeInfill) return region->flow(FlowRole::frExternalPerimeter).width();
if (role == ExtrusionRole::ExternalPerimeter) return region->flow(FlowRole::frExternalPerimeter).width();
if (role == ExtrusionRole::GapFill) return region->flow(FlowRole::frInfill).width();
if (role == ExtrusionRole::Perimeter) return region->flow(FlowRole::frPerimeter).width();
if (role == ExtrusionRole::SolidInfill) return region->flow(FlowRole::frSolidInfill).width();
if (role == ExtrusionRole::InternalInfill) return region->flow(FlowRole::frInfill).width();
if (role == ExtrusionRole::TopSolidInfill) return region->flow(FlowRole::frTopSolidInfill).width();
// default
return region->flow(FlowRole::frPerimeter).width();
}
std::vector<ExtrusionLine> to_short_lines(const ExtrusionEntity *e, float length_limit)
{
assert(!e->is_collection());
Polyline pl = e->as_polyline();
std::vector<ExtrusionLine> lines;
lines.reserve(pl.points.size() * 1.5f);
for (int point_idx = 0; point_idx < int(pl.points.size()) - 1; ++point_idx) {
Vec2f start = unscaled(pl.points[point_idx]).cast<float>();
Vec2f next = unscaled(pl.points[point_idx + 1]).cast<float>();
Vec2f v = next - start; // vector from next to current
float dist_to_next = v.norm();
v.normalize();
int lines_count = int(std::ceil(dist_to_next / length_limit));
float step_size = dist_to_next / lines_count;
for (int i = 0; i < lines_count; ++i) {
Vec2f a(start + v * (i * step_size));
Vec2f b(start + v * ((i + 1) * step_size));
lines.emplace_back(a, b, (a-b).norm(), e);
}
}
return lines;
}
float estimate_curled_up_height(
float distance, float curvature, float layer_height, float flow_width, float prev_line_curled_height, Params params)
{
float curled_up_height = 0;
if (fabs(distance) < 3.0 * flow_width) {
curled_up_height = std::max(prev_line_curled_height - layer_height * 0.75f, 0.0f);
}
if (distance > params.malformation_distance_factors.first * flow_width &&
distance < params.malformation_distance_factors.second * flow_width) {
// imagine the extrusion profile. The part that has been glued (melted) with the previous layer will be called anchored section
// and the rest will be called curling section
// float anchored_section = flow_width - point.distance;
float curling_section = distance;
// after extruding, the curling (floating) part of the extrusion starts to shrink back to the rounded shape of the nozzle
// The anchored part not, because the melted material holds to the previous layer well.
// We can assume for simplicity perfect equalization of layer height and raising part width, from which:
float swelling_radius = (layer_height + curling_section) / 2.0f;
curled_up_height += std::max(0.f, (swelling_radius - layer_height) / 2.0f);
// On convex turns, there is larger tension on the floating edge of the extrusion then on the middle section.
// The tension is caused by the shrinking tendency of the filament, and on outer edge of convex trun, the expansion is greater and
// thus shrinking force is greater. This tension will cause the curling section to curle up
if (curvature > 0.01) {
float radius = (1.0 / curvature);
float curling_t = sqrt(radius / 100);
float b = curling_t * flow_width;
float a = curling_section;
float c = sqrt(std::max(0.0f, a * a - b * b));
curled_up_height += c;
}
curled_up_height = std::min(curled_up_height, params.max_curled_height_factor * layer_height);
}
return curled_up_height;
}
std::vector<ExtrusionLine> check_extrusion_entity_stability(const ExtrusionEntity *entity,
const LayerRegion *layer_region,
const LD &prev_layer_lines,
const AABBTreeLines::LinesDistancer<Linef> &prev_layer_boundary,
const Params &params)
{
assert(!entity->is_collection());
if (entity->role().is_bridge() && !entity->role().is_perimeter()) {
// pure bridges are handled separately, beacuse we need to align the forward and backward direction support points
if (entity->length() < scale_(params.min_distance_to_allow_local_supports)) {
return {};
}
const float flow_width = get_flow_width(layer_region, entity->role());
std::vector<ExtendedPoint> annotated_points = estimate_points_properties<true, true, true, true>(entity->as_polyline().points,
prev_layer_boundary, flow_width,
params.bridge_distance);
std::vector<ExtrusionLine> lines_out;
lines_out.reserve(annotated_points.size());
float bridged_distance = 0.0f;
std::optional<Vec2d> bridging_dir{};
for (size_t i = 0; i < annotated_points.size(); ++i) {
ExtendedPoint &curr_point = annotated_points[i];
const ExtendedPoint &prev_point = i > 0 ? annotated_points[i - 1] : annotated_points[i];
SupportPointCause potential_cause = std::abs(curr_point.curvature) > 0.1 ? SupportPointCause::FloatingBridgeAnchor :
SupportPointCause::LongBridge;
float line_len = (prev_point.position - curr_point.position).norm();
Vec2d line_dir = line_len > EPSILON ? Vec2d((curr_point.position - prev_point.position) / double(line_len)) : Vec2d::Zero();
ExtrusionLine line_out{prev_point.position.cast<float>(), curr_point.position.cast<float>(), line_len, entity};
float max_bridge_len = std::max(params.support_points_interface_radius * 2.0f,
params.bridge_distance /
((1.0f + std::abs(curr_point.curvature)) * (1.0f + std::abs(curr_point.curvature)) *
(1.0f + std::abs(curr_point.curvature))));
if (!bridging_dir.has_value() && curr_point.distance > flow_width && line_len > params.bridge_distance * 0.6) {
bridging_dir = line_dir;
}
if (curr_point.distance > flow_width && potential_cause == SupportPointCause::LongBridge && bridging_dir.has_value() &&
bridging_dir->dot(line_dir) < 0.8) { // skip backward direction of bridge - supported by forward points enough
bridged_distance += line_len;
} else if (curr_point.distance > flow_width) {
bridged_distance += line_len;
if (bridged_distance > max_bridge_len) {
bridged_distance = 0.0f;
line_out.support_point_generated = potential_cause;
}
} else {
bridged_distance = 0.0f;
}
lines_out.push_back(line_out);
}
return lines_out;
} else { // single extrusion path, with possible varying parameters
if (entity->length() < scale_(params.min_distance_to_allow_local_supports)) {
return {};
}
const float flow_width = get_flow_width(layer_region, entity->role());
// Compute only unsigned distance - prev_layer_lines can contain unconnected paths, thus the sign of the distance is unreliable
std::vector<ExtendedPoint> annotated_points = estimate_points_properties<true, true, false, false>(entity->as_polyline().points,
prev_layer_lines, flow_width,
params.bridge_distance);
std::vector<ExtrusionLine> lines_out;
lines_out.reserve(annotated_points.size());
float bridged_distance = annotated_points.front().position != annotated_points.back().position ? (params.bridge_distance + 1.0f) :
0.0f;
for (size_t i = 0; i < annotated_points.size(); ++i) {
ExtendedPoint &curr_point = annotated_points[i];
const ExtendedPoint &prev_point = i > 0 ? annotated_points[i - 1] : annotated_points[i];
float line_len = (prev_point.position - curr_point.position).norm();
ExtrusionLine line_out{prev_point.position.cast<float>(), curr_point.position.cast<float>(), line_len, entity};
Vec2f middle = 0.5 * (line_out.a + line_out.b);
auto [middle_distance, bottom_line_idx, x] = prev_layer_lines.distance_from_lines_extra<false>(middle);
ExtrusionLine bottom_line = prev_layer_lines.get_lines().empty() ? ExtrusionLine{} : prev_layer_lines.get_line(bottom_line_idx);
// correctify the distance sign using slice polygons
float sign = (prev_layer_boundary.distance_from_lines<true>(curr_point.position) + 0.5f * flow_width) < 0.0f ? -1.0f : 1.0f;
curr_point.distance *= sign;
SupportPointCause potential_cause = SupportPointCause::FloatingExtrusion;
// Bridges are now separated. While long overhang perimeter is technically bridge, it would confuse the users
// if (bridged_distance + line_len > params.bridge_distance * 0.8 && std::abs(curr_point.curvature) < 0.1) {
// potential_cause = SupportPointCause::FloatingExtrusion;
// }
float max_bridge_len = std::max(params.support_points_interface_radius * 2.0f,
params.bridge_distance /
((1.0f + std::abs(curr_point.curvature)) * (1.0f + std::abs(curr_point.curvature)) *
(1.0f + std::abs(curr_point.curvature))));
if (curr_point.distance > 1.2f * flow_width) {
line_out.form_quality = 0.8f;
bridged_distance += line_len;
if (bridged_distance > max_bridge_len) {
line_out.support_point_generated = potential_cause;
bridged_distance = 0.0f;
}
} else if (curr_point.distance > flow_width * 0.8f) {
bridged_distance += line_len;
line_out.form_quality = bottom_line.form_quality - 0.3f;
if (line_out.form_quality < 0 && bridged_distance > max_bridge_len) {
line_out.support_point_generated = potential_cause;
line_out.form_quality = 0.5f;
bridged_distance = 0.0f;
}
} else {
bridged_distance = 0.0f;
}
line_out.curled_up_height = estimate_curled_up_height(middle_distance, 0.5 * (prev_point.curvature + curr_point.curvature),
layer_region->layer()->height, flow_width, bottom_line.curled_up_height,
params);
lines_out.push_back(line_out);
}
return lines_out;
}
}
class ObjectPart
{
public:
float volume{};
Vec3f volume_centroid_accumulator = Vec3f::Zero();
float sticking_area{};
Vec3f sticking_centroid_accumulator = Vec3f::Zero();
Vec2f sticking_second_moment_of_area_accumulator = Vec2f::Zero();
float sticking_second_moment_of_area_covariance_accumulator{};
bool connected_to_bed = false;
ObjectPart() = default;
void add(const ObjectPart &other)
{
this->connected_to_bed = this->connected_to_bed || other.connected_to_bed;
this->volume_centroid_accumulator += other.volume_centroid_accumulator;
this->volume += other.volume;
this->sticking_area += other.sticking_area;
this->sticking_centroid_accumulator += other.sticking_centroid_accumulator;
this->sticking_second_moment_of_area_accumulator += other.sticking_second_moment_of_area_accumulator;
this->sticking_second_moment_of_area_covariance_accumulator += other.sticking_second_moment_of_area_covariance_accumulator;
}
void add_support_point(const Vec3f &position, float sticking_area)
{
this->sticking_area += sticking_area;
this->sticking_centroid_accumulator += sticking_area * position;
this->sticking_second_moment_of_area_accumulator += sticking_area * position.head<2>().cwiseProduct(position.head<2>());
this->sticking_second_moment_of_area_covariance_accumulator += sticking_area * position.x() * position.y();
}
float compute_directional_xy_variance(const Vec2f &line_dir,
const Vec3f &centroid_accumulator,
const Vec2f &second_moment_of_area_accumulator,
const float &second_moment_of_area_covariance_accumulator,
const float &area) const
{
assert(area > 0);
Vec3f centroid = centroid_accumulator / area;
Vec2f variance = (second_moment_of_area_accumulator / area - centroid.head<2>().cwiseProduct(centroid.head<2>()));
float covariance = second_moment_of_area_covariance_accumulator / area - centroid.x() * centroid.y();
// Var(aX+bY)=a^2*Var(X)+b^2*Var(Y)+2*a*b*Cov(X,Y)
float directional_xy_variance = line_dir.x() * line_dir.x() * variance.x() + line_dir.y() * line_dir.y() * variance.y() +
2.0f * line_dir.x() * line_dir.y() * covariance;
#ifdef DETAILED_DEBUG_LOGS
BOOST_LOG_TRIVIAL(debug) << "centroid: " << centroid.x() << " " << centroid.y() << " " << centroid.z();
BOOST_LOG_TRIVIAL(debug) << "variance: " << variance.x() << " " << variance.y();
BOOST_LOG_TRIVIAL(debug) << "covariance: " << covariance;
BOOST_LOG_TRIVIAL(debug) << "directional_xy_variance: " << directional_xy_variance;
#endif
return directional_xy_variance;
}
float compute_elastic_section_modulus(const Vec2f &line_dir,
const Vec3f &extreme_point,
const Vec3f &centroid_accumulator,
const Vec2f &second_moment_of_area_accumulator,
const float &second_moment_of_area_covariance_accumulator,
const float &area) const
{
float directional_xy_variance = compute_directional_xy_variance(line_dir, centroid_accumulator, second_moment_of_area_accumulator,
second_moment_of_area_covariance_accumulator, area);
if (directional_xy_variance < EPSILON) { return 0.0f; }
Vec3f centroid = centroid_accumulator / area;
float extreme_fiber_dist = line_alg::distance_to(Linef(centroid.head<2>().cast<double>(),
(centroid.head<2>() + Vec2f(line_dir.y(), -line_dir.x())).cast<double>()),
extreme_point.head<2>().cast<double>());
float elastic_section_modulus = area * directional_xy_variance / extreme_fiber_dist;
#ifdef DETAILED_DEBUG_LOGS
BOOST_LOG_TRIVIAL(debug) << "extreme_fiber_dist: " << extreme_fiber_dist;
BOOST_LOG_TRIVIAL(debug) << "elastic_section_modulus: " << elastic_section_modulus;
#endif
return elastic_section_modulus;
}
std::tuple<float, SupportPointCause> is_stable_while_extruding(const SliceConnection &connection,
const ExtrusionLine &extruded_line,
const Vec3f &extreme_point,
float layer_z,
const Params &params) const
{
Vec2f line_dir = (extruded_line.b - extruded_line.a).normalized();
const Vec3f &mass_centroid = this->volume_centroid_accumulator / this->volume;
float mass = this->volume * params.filament_density;
float weight = mass * params.gravity_constant;
float movement_force = params.max_acceleration * mass;
float extruder_conflict_force = params.standard_extruder_conflict_force +
std::min(extruded_line.curled_up_height, 1.0f) * params.malformations_additive_conflict_extruder_force;
// section for bed calculations
{
if (this->sticking_area < EPSILON) return {1.0f, SupportPointCause::UnstableFloatingPart};
Vec3f bed_centroid = this->sticking_centroid_accumulator / this->sticking_area;
float bed_yield_torque = -compute_elastic_section_modulus(line_dir, extreme_point, this->sticking_centroid_accumulator,
this->sticking_second_moment_of_area_accumulator,
this->sticking_second_moment_of_area_covariance_accumulator,
this->sticking_area) *
params.get_bed_adhesion_yield_strength();
Vec2f bed_weight_arm = (mass_centroid.head<2>() - bed_centroid.head<2>());
float bed_weight_arm_len = bed_weight_arm.norm();
float bed_weight_dir_xy_variance = compute_directional_xy_variance(bed_weight_arm, this->sticking_centroid_accumulator,
this->sticking_second_moment_of_area_accumulator,
this->sticking_second_moment_of_area_covariance_accumulator,
this->sticking_area);
float bed_weight_sign = bed_weight_arm_len < 2.0f * sqrt(bed_weight_dir_xy_variance) ? -1.0f : 1.0f;
float bed_weight_torque = bed_weight_sign * bed_weight_arm_len * weight;
float bed_movement_arm = std::max(0.0f, mass_centroid.z() - bed_centroid.z());
float bed_movement_torque = movement_force * bed_movement_arm;
float bed_conflict_torque_arm = layer_z - bed_centroid.z();
float bed_extruder_conflict_torque = extruder_conflict_force * bed_conflict_torque_arm;
float bed_total_torque = bed_movement_torque + bed_extruder_conflict_torque + bed_weight_torque + bed_yield_torque;
#ifdef DETAILED_DEBUG_LOGS
BOOST_LOG_TRIVIAL(debug) << "bed_centroid: " << bed_centroid.x() << " " << bed_centroid.y() << " " << bed_centroid.z();
BOOST_LOG_TRIVIAL(debug) << "SSG: bed_yield_torque: " << bed_yield_torque;
BOOST_LOG_TRIVIAL(debug) << "SSG: bed_weight_arm: " << bed_weight_arm_len;
BOOST_LOG_TRIVIAL(debug) << "SSG: bed_weight_torque: " << bed_weight_torque;
BOOST_LOG_TRIVIAL(debug) << "SSG: bed_movement_arm: " << bed_movement_arm;
BOOST_LOG_TRIVIAL(debug) << "SSG: bed_movement_torque: " << bed_movement_torque;
BOOST_LOG_TRIVIAL(debug) << "SSG: bed_conflict_torque_arm: " << bed_conflict_torque_arm;
BOOST_LOG_TRIVIAL(debug) << "SSG: extruded_line.curled_up_height: " << extruded_line.curled_up_height;
BOOST_LOG_TRIVIAL(debug) << "SSG: extruded_line.form_quality: " << extruded_line.form_quality;
BOOST_LOG_TRIVIAL(debug) << "SSG: extruder_conflict_force: " << extruder_conflict_force;
BOOST_LOG_TRIVIAL(debug) << "SSG: bed_extruder_conflict_torque: " << bed_extruder_conflict_torque;
BOOST_LOG_TRIVIAL(debug) << "SSG: total_torque: " << bed_total_torque << " layer_z: " << layer_z;
#endif
if (bed_total_torque > 0) {
return {bed_total_torque / bed_conflict_torque_arm,
(this->connected_to_bed ? SupportPointCause::SeparationFromBed : SupportPointCause::UnstableFloatingPart)};
}
}
// section for weak connection calculations
{
if (connection.area < EPSILON) return {1.0f, SupportPointCause::UnstableFloatingPart};
Vec3f conn_centroid = connection.centroid_accumulator / connection.area;
if (layer_z - conn_centroid.z() < 3.0f) { return {-1.0f, SupportPointCause::WeakObjectPart}; }
float conn_yield_torque = compute_elastic_section_modulus(line_dir, extreme_point, connection.centroid_accumulator,
connection.second_moment_of_area_accumulator,
connection.second_moment_of_area_covariance_accumulator,
connection.area) *
params.material_yield_strength;
float conn_weight_arm = (conn_centroid.head<2>() - mass_centroid.head<2>()).norm();
if (layer_z - conn_centroid.z() < 30.0) {
conn_weight_arm = 0.0f; // Given that we do not have very good info about the weight distribution between the connection and current layer,
// do not consider the weight until quite far away from the weak connection segment
}
float conn_weight_torque = conn_weight_arm * weight * (1.0f - conn_centroid.z() / layer_z) * (1.0f - conn_centroid.z() / layer_z);
float conn_movement_arm = std::max(0.0f, mass_centroid.z() - conn_centroid.z());
float conn_movement_torque = movement_force * conn_movement_arm;
float conn_conflict_torque_arm = layer_z - conn_centroid.z();
float conn_extruder_conflict_torque = extruder_conflict_force * conn_conflict_torque_arm;
float conn_total_torque = conn_movement_torque + conn_extruder_conflict_torque + conn_weight_torque - conn_yield_torque;
#ifdef DETAILED_DEBUG_LOGS
BOOST_LOG_TRIVIAL(debug) << "conn_centroid: " << conn_centroid.x() << " " << conn_centroid.y() << " " << conn_centroid.z();
BOOST_LOG_TRIVIAL(debug) << "SSG: conn_yield_torque: " << conn_yield_torque;
BOOST_LOG_TRIVIAL(debug) << "SSG: conn_weight_arm: " << conn_weight_arm;
BOOST_LOG_TRIVIAL(debug) << "SSG: conn_weight_torque: " << conn_weight_torque;
BOOST_LOG_TRIVIAL(debug) << "SSG: conn_movement_arm: " << conn_movement_arm;
BOOST_LOG_TRIVIAL(debug) << "SSG: conn_movement_torque: " << conn_movement_torque;
BOOST_LOG_TRIVIAL(debug) << "SSG: conn_conflict_torque_arm: " << conn_conflict_torque_arm;
BOOST_LOG_TRIVIAL(debug) << "SSG: conn_extruder_conflict_torque: " << conn_extruder_conflict_torque;
BOOST_LOG_TRIVIAL(debug) << "SSG: total_torque: " << conn_total_torque << " layer_z: " << layer_z;
#endif
return {conn_total_torque / conn_conflict_torque_arm, SupportPointCause::WeakObjectPart};
}
}
};
// return new object part and actual area covered by extrusions
std::tuple<ObjectPart, float> build_object_part_from_slice(const size_t &slice_idx, const Layer *layer, const Params& params)
{
ObjectPart new_object_part;
float area_covered_by_extrusions = 0;
const LayerSlice& slice = layer->lslices_ex.at(slice_idx);
auto add_extrusions_to_object = [&new_object_part, &area_covered_by_extrusions, &params](const ExtrusionEntity *e,
const LayerRegion *region) {
float flow_width = get_flow_width(region, e->role());
const Layer *l = region->layer();
float slice_z = l->slice_z;
float height = l->height;
std::vector<ExtrusionLine> lines = to_short_lines(e, 5.0);
for (const ExtrusionLine &line : lines) {
float volume = line.len * height * flow_width * PI / 4.0f;
area_covered_by_extrusions += line.len * flow_width;
new_object_part.volume += volume;
new_object_part.volume_centroid_accumulator += to_3d(Vec2f((line.a + line.b) / 2.0f), slice_z) * volume;
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if (int(l->id()) == params.raft_layers_count) { // layer attached on bed/raft
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new_object_part.connected_to_bed = true;
float sticking_area = line.len * flow_width;
new_object_part.sticking_area += sticking_area;
Vec2f middle = Vec2f((line.a + line.b) / 2.0f);
new_object_part.sticking_centroid_accumulator += sticking_area * to_3d(middle, slice_z);
// Bottom infill lines can be quite long, and algined, so the middle approximaton used above does not work
Vec2f dir = (line.b - line.a).normalized();
float segment_length = flow_width; // segments of size flow_width
for (float segment_middle_dist = std::min(line.len, segment_length * 0.5f); segment_middle_dist < line.len;
segment_middle_dist += segment_length) {
Vec2f segment_middle = line.a + segment_middle_dist * dir;
new_object_part.sticking_second_moment_of_area_accumulator += segment_length * flow_width *
segment_middle.cwiseProduct(segment_middle);
new_object_part.sticking_second_moment_of_area_covariance_accumulator += segment_length * flow_width *
segment_middle.x() * segment_middle.y();
}
}
}
};
for (const auto &island : slice.islands) {
const LayerRegion *perimeter_region = layer->get_region(island.perimeters.region());
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for (size_t perimeter_idx : island.perimeters) {
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for (const ExtrusionEntity *perimeter :
static_cast<const ExtrusionEntityCollection *>(perimeter_region->perimeters().entities[perimeter_idx])->entities) {
add_extrusions_to_object(perimeter, perimeter_region);
}
}
for (const LayerExtrusionRange &fill_range : island.fills) {
const LayerRegion *fill_region = layer->get_region(fill_range.region());
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for (size_t fill_idx : fill_range) {
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for (const ExtrusionEntity *fill :
static_cast<const ExtrusionEntityCollection *>(fill_region->fills().entities[fill_idx])->entities) {
add_extrusions_to_object(fill, fill_region);
}
}
}
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for (size_t thin_fill_idx : island.thin_fills) {
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add_extrusions_to_object(perimeter_region->thin_fills().entities[thin_fill_idx], perimeter_region);
}
}
// BRIM HANDLING
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if (int(layer->id()) == params.raft_layers_count && params.raft_layers_count == 0 && params.brim_type != BrimType::btNoBrim &&
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params.brim_width > 0.0) {
// TODO: The algorithm here should take into account that multiple slices may have coliding Brim areas and the final brim area is
// smaller,
// thus has lower adhesion. For now this effect will be neglected.
ExPolygon slice_poly = layer->lslices[slice_idx];
ExPolygons brim;
if (params.brim_type == BrimType::btOuterAndInner || params.brim_type == BrimType::btOuterOnly) {
Polygon brim_hole = slice_poly.contour;
brim_hole.reverse();
Polygons c = expand(slice_poly.contour, scale_(params.brim_width)); // For very small polygons, the expand may result in empty vector, even thought the input is correct.
if (!c.empty()) {
brim.push_back(ExPolygon{c.front(), brim_hole});
}
}
if (params.brim_type == BrimType::btOuterAndInner || params.brim_type == BrimType::btInnerOnly) {
Polygons brim_contours = slice_poly.holes;
polygons_reverse(brim_contours);
for (const Polygon &brim_contour : brim_contours) {
Polygons brim_holes = shrink({brim_contour}, scale_(params.brim_width));
polygons_reverse(brim_holes);
ExPolygon inner_brim{brim_contour};
inner_brim.holes = brim_holes;
brim.push_back(inner_brim);
}
}
for (const Polygon &poly : to_polygons(brim)) {
Vec2f p0 = unscaled(poly.first_point()).cast<float>();
for (size_t i = 2; i < poly.points.size(); i++) {
Vec2f p1 = unscaled(poly.points[i - 1]).cast<float>();
Vec2f p2 = unscaled(poly.points[i]).cast<float>();
float sign = cross2(p1 - p0, p2 - p1) > 0 ? 1.0f : -1.0f;
auto [area, first_moment_of_area, second_moment_area,
second_moment_of_area_covariance] = compute_moments_of_area_of_triangle(p0, p1, p2);
new_object_part.sticking_area += sign * area;
new_object_part.sticking_centroid_accumulator += sign * Vec3f(first_moment_of_area.x(), first_moment_of_area.y(),
layer->print_z * area);
new_object_part.sticking_second_moment_of_area_accumulator += sign * second_moment_area;
new_object_part.sticking_second_moment_of_area_covariance_accumulator += sign * second_moment_of_area_covariance;
}
}
}
return {new_object_part, area_covered_by_extrusions};
}
class ActiveObjectParts
{
size_t next_part_idx = 0;
std::unordered_map<size_t, ObjectPart> active_object_parts;
std::unordered_map<size_t, size_t> active_object_parts_id_mapping;
public:
size_t get_flat_id(size_t id)
{
size_t index = active_object_parts_id_mapping.at(id);
while (index != active_object_parts_id_mapping.at(index)) { index = active_object_parts_id_mapping.at(index); }
size_t i = id;
while (index != active_object_parts_id_mapping.at(i)) {
size_t next = active_object_parts_id_mapping[i];
active_object_parts_id_mapping[i] = index;
i = next;
}
return index;
}
ObjectPart &access(size_t id) { return this->active_object_parts.at(this->get_flat_id(id)); }
size_t insert(const ObjectPart &new_part)
{
this->active_object_parts.emplace(next_part_idx, new_part);
this->active_object_parts_id_mapping.emplace(next_part_idx, next_part_idx);
return next_part_idx++;
}
void merge(size_t from, size_t to)
{
size_t to_flat = this->get_flat_id(to);
size_t from_flat = this->get_flat_id(from);
active_object_parts.at(to_flat).add(active_object_parts.at(from_flat));
active_object_parts.erase(from_flat);
active_object_parts_id_mapping[from] = to_flat;
}
};
std::tuple<SupportPoints, PartialObjects> check_stability(const PrintObject *po,
const PrecomputedSliceConnections &precomputed_slices_connections,
const PrintTryCancel &cancel_func,
const Params &params)
{
SupportPoints supp_points{};
SupportGridFilter supports_presence_grid(po, params.min_distance_between_support_points);
ActiveObjectParts active_object_parts{};
PartialObjects partial_objects{};
LD prev_layer_ext_perim_lines;
std::unordered_map<size_t, size_t> prev_slice_idx_to_object_part_mapping;
std::unordered_map<size_t, size_t> next_slice_idx_to_object_part_mapping;
std::unordered_map<size_t, SliceConnection> prev_slice_idx_to_weakest_connection;
std::unordered_map<size_t, SliceConnection> next_slice_idx_to_weakest_connection;
auto remember_partial_object = [&active_object_parts, &partial_objects](size_t object_part_id) {
auto object_part = active_object_parts.access(object_part_id);
if (object_part.volume > EPSILON) {
partial_objects.emplace_back(object_part.volume_centroid_accumulator / object_part.volume, object_part.volume,
object_part.connected_to_bed);
}
};
for (size_t layer_idx = 0; layer_idx < po->layer_count(); ++layer_idx) {
cancel_func();
const Layer *layer = po->get_layer(layer_idx);
float bottom_z = layer->bottom_z();
auto create_support_point_position = [bottom_z](const Vec2f &layer_pos) { return Vec3f{layer_pos.x(), layer_pos.y(), bottom_z}; };
for (size_t slice_idx = 0; slice_idx < layer->lslices_ex.size(); ++slice_idx) {
const LayerSlice &slice = layer->lslices_ex.at(slice_idx);
auto [new_part, covered_area] = build_object_part_from_slice(slice_idx, layer, params);
const SliceConnection &connection_to_below = precomputed_slices_connections[layer_idx][slice_idx];
#ifdef DETAILED_DEBUG_LOGS
std::cout << "SLICE IDX: " << slice_idx << std::endl;
for (const auto &link : slice.overlaps_below) {
std::cout << "connected to slice below: " << link.slice_idx << " by area : " << link.area << std::endl;
}
connection_to_below.print_info("CONNECTION TO BELOW");
#endif
if (connection_to_below.area < EPSILON) { // new object part emerging
size_t part_id = active_object_parts.insert(new_part);
next_slice_idx_to_object_part_mapping.emplace(slice_idx, part_id);
next_slice_idx_to_weakest_connection.emplace(slice_idx, connection_to_below);
} else {
size_t final_part_id{};
SliceConnection transfered_weakest_connection{};
// MERGE parts
{
std::unordered_set<size_t> parts_ids;
for (const auto &link : slice.overlaps_below) {
size_t part_id = active_object_parts.get_flat_id(prev_slice_idx_to_object_part_mapping.at(link.slice_idx));
parts_ids.insert(part_id);
transfered_weakest_connection.add(prev_slice_idx_to_weakest_connection.at(link.slice_idx));
}
final_part_id = *parts_ids.begin();
for (size_t part_id : parts_ids) {
if (final_part_id != part_id) {
remember_partial_object(part_id);
active_object_parts.merge(part_id, final_part_id);
}
}
}
auto estimate_conn_strength = [bottom_z](const SliceConnection &conn) {
if (conn.area < EPSILON) { // connection is empty, does not exists. Return max strength so that it is not picked as the
// weakest connection.
return INFINITY;
}
Vec3f centroid = conn.centroid_accumulator / conn.area;
Vec2f variance = (conn.second_moment_of_area_accumulator / conn.area -
centroid.head<2>().cwiseProduct(centroid.head<2>()));
float xy_variance = variance.x() + variance.y();
float arm_len_estimate = std::max(1.0f, bottom_z - (conn.centroid_accumulator.z() / conn.area));
return conn.area * sqrt(xy_variance) / arm_len_estimate;
};
#ifdef DETAILED_DEBUG_LOGS
connection_to_below.print_info("new_weakest_connection");
transfered_weakest_connection.print_info("transfered_weakest_connection");
#endif
if (estimate_conn_strength(transfered_weakest_connection) > estimate_conn_strength(connection_to_below)) {
transfered_weakest_connection = connection_to_below;
}
next_slice_idx_to_weakest_connection.emplace(slice_idx, transfered_weakest_connection);
next_slice_idx_to_object_part_mapping.emplace(slice_idx, final_part_id);
ObjectPart &part = active_object_parts.access(final_part_id);
part.add(new_part);
}
}
prev_slice_idx_to_object_part_mapping = next_slice_idx_to_object_part_mapping;
next_slice_idx_to_object_part_mapping.clear();
prev_slice_idx_to_weakest_connection = next_slice_idx_to_weakest_connection;
next_slice_idx_to_weakest_connection.clear();
auto get_flat_entities = [](const ExtrusionEntity *e) {
std::vector<const ExtrusionEntity *> entities;
std::vector<const ExtrusionEntity *> queue{e};
while (!queue.empty()) {
const ExtrusionEntity *next = queue.back();
queue.pop_back();
if (next->is_collection()) {
for (const ExtrusionEntity *e : static_cast<const ExtrusionEntityCollection *>(next)->entities) {
queue.push_back(e);
}
} else {
entities.push_back(next);
}
}
return entities;
};
struct EnitityToCheck
{
const ExtrusionEntity *e;
const LayerRegion *region;
size_t slice_idx;
};
std::vector<EnitityToCheck> entities_to_check;
for (size_t slice_idx = 0; slice_idx < layer->lslices_ex.size(); ++slice_idx) {
const LayerSlice &slice = layer->lslices_ex.at(slice_idx);
for (const auto &island : slice.islands) {
for (const LayerExtrusionRange &fill_range : island.fills) {
const LayerRegion *fill_region = layer->get_region(fill_range.region());
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for (size_t fill_idx : fill_range) {
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for (const ExtrusionEntity *e : get_flat_entities(fill_region->fills().entities[fill_idx])) {
if (e->role() == ExtrusionRole::BridgeInfill) {
entities_to_check.push_back({e, fill_region, slice_idx});
}
}
}
}
const LayerRegion *perimeter_region = layer->get_region(island.perimeters.region());
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for (size_t perimeter_idx : island.perimeters) {
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for (const ExtrusionEntity *e : get_flat_entities(perimeter_region->perimeters().entities[perimeter_idx])) {
entities_to_check.push_back({e, perimeter_region, slice_idx});
}
}
}
}
AABBTreeLines::LinesDistancer<Linef> prev_layer_boundary = layer->lower_layer != nullptr ?
AABBTreeLines::LinesDistancer<Linef>{
to_unscaled_linesf(layer->lower_layer->lslices)} :
AABBTreeLines::LinesDistancer<Linef>{};
std::vector<tbb::concurrent_vector<ExtrusionLine>> unstable_lines_per_slice(layer->lslices_ex.size());
std::vector<tbb::concurrent_vector<ExtrusionLine>> ext_perim_lines_per_slice(layer->lslices_ex.size());
tbb::parallel_for(tbb::blocked_range<size_t>(0, entities_to_check.size()),
[&entities_to_check, &prev_layer_ext_perim_lines, &prev_layer_boundary, &unstable_lines_per_slice,
&ext_perim_lines_per_slice, &params](tbb::blocked_range<size_t> r) {
for (size_t entity_idx = r.begin(); entity_idx < r.end(); ++entity_idx) {
const auto &e_to_check = entities_to_check[entity_idx];
for (const auto &line :
check_extrusion_entity_stability(e_to_check.e, e_to_check.region, prev_layer_ext_perim_lines,
prev_layer_boundary, params)) {
if (line.support_point_generated.has_value()) {
unstable_lines_per_slice[e_to_check.slice_idx].push_back(line);
}
if (line.is_external_perimeter()) {
ext_perim_lines_per_slice[e_to_check.slice_idx].push_back(line);
}
}
}
});
std::vector<ExtrusionLine> current_layer_ext_perims_lines{};
current_layer_ext_perims_lines.reserve(prev_layer_ext_perim_lines.get_lines().size());
// All object parts updated, and for each slice we have coresponding weakest connection.
// We can now check each slice and its corresponding weakest connection and object part for stability.
for (size_t slice_idx = 0; slice_idx < layer->lslices_ex.size(); ++slice_idx) {
ObjectPart &part = active_object_parts.access(prev_slice_idx_to_object_part_mapping[slice_idx]);
SliceConnection &weakest_conn = prev_slice_idx_to_weakest_connection[slice_idx];
#ifdef DETAILED_DEBUG_LOGS
weakest_conn.print_info("weakest connection info: ");
#endif
// Function that is used when new support point is generated. It will update the ObjectPart stability, weakest conneciton info,
// and the support presence grid and add the point to the issues.
auto reckon_new_support_point = [&part, &weakest_conn, &supp_points, &supports_presence_grid, &params,
&layer_idx](SupportPointCause cause, const Vec3f &support_point, float force,
const Vec2f &dir) {
// if position is taken and point is for global stability (force > 0) or we are too close to the bed, do not add
// This allows local support points (e.g. bridging) to be generated densely
if ((supports_presence_grid.position_taken(support_point) && force > 0) || layer_idx <= 1) {
return;
}
float area = params.support_points_interface_radius * params.support_points_interface_radius * float(PI);
// add the stability effect of the point only if the spot is not taken, so that the densely created local support points do
// not add unrealistic amount of stability to the object (due to overlaping of local support points)
if (!(supports_presence_grid.position_taken(support_point))) {
part.add_support_point(support_point, area);
}
float radius = params.support_points_interface_radius;
supp_points.emplace_back(cause, support_point, force, radius, dir);
supports_presence_grid.take_position(support_point);
// The support point also increases the stability of the weakest connection of the object, which should be reflected
if (weakest_conn.area > EPSILON) { // Do not add it to the weakest connection if it is not valid - does not exist
weakest_conn.area += area;
weakest_conn.centroid_accumulator += support_point * area;
weakest_conn.second_moment_of_area_accumulator += area * support_point.head<2>().cwiseProduct(support_point.head<2>());
weakest_conn.second_moment_of_area_covariance_accumulator += area * support_point.x() * support_point.y();
}
};
for (const auto &l : unstable_lines_per_slice[slice_idx]) {
assert(l.support_point_generated.has_value());
reckon_new_support_point(*l.support_point_generated, create_support_point_position(l.b), float(-EPSILON), Vec2f::Zero());
}
LD current_slice_lines_distancer({ext_perim_lines_per_slice[slice_idx].begin(), ext_perim_lines_per_slice[slice_idx].end()});
float unchecked_dist = params.min_distance_between_support_points + 1.0f;
for (const ExtrusionLine &line : current_slice_lines_distancer.get_lines()) {
if ((unchecked_dist + line.len < params.min_distance_between_support_points && line.curled_up_height < params.curling_tolerance_limit) ||
line.len < EPSILON) {
unchecked_dist += line.len;
} else {
unchecked_dist = line.len;
Vec2f pivot_site_search_point = Vec2f(line.b + (line.b - line.a).normalized() * 300.0f);
auto [dist, nidx,
nearest_point] = current_slice_lines_distancer.distance_from_lines_extra<false>(pivot_site_search_point);
Vec3f support_point = create_support_point_position(nearest_point);
auto [force, cause] = part.is_stable_while_extruding(weakest_conn, line, support_point, bottom_z, params);
if (force > 0) {
reckon_new_support_point(cause, support_point, force, (line.b - line.a).normalized());
}
}
}
current_layer_ext_perims_lines.insert(current_layer_ext_perims_lines.end(), current_slice_lines_distancer.get_lines().begin(),
current_slice_lines_distancer.get_lines().end());
} // slice iterations
prev_layer_ext_perim_lines = LD(current_layer_ext_perims_lines);
} // layer iterations
for (const auto& active_obj_pair : prev_slice_idx_to_object_part_mapping) {
remember_partial_object(active_obj_pair.second);
}
return {supp_points, partial_objects};
}
#ifdef DEBUG_FILES
void debug_export(const SupportPoints& support_points,const PartialObjects& objects, std::string file_name)
{
Slic3r::CNumericLocalesSetter locales_setter;
{
FILE *fp = boost::nowide::fopen(debug_out_path((file_name + "_supports.obj").c_str()).c_str(), "w");
if (fp == nullptr) {
BOOST_LOG_TRIVIAL(error) << "Debug files: Couldn't open " << file_name << " for writing";
return;
}
for (size_t i = 0; i < support_points.size(); ++i) {
Vec3f color{1.0f, 1.0f, 1.0f};
switch (support_points[i].cause) {
case SupportPointCause::FloatingBridgeAnchor: color = {0.863281f, 0.109375f, 0.113281f}; break; //RED
case SupportPointCause::LongBridge: color = {0.960938f, 0.90625f, 0.0625f}; break; // YELLOW
case SupportPointCause::FloatingExtrusion: color = {0.921875f, 0.515625f, 0.101563f}; break; // ORANGE
case SupportPointCause::SeparationFromBed: color = {0.0f, 1.0f, 0.0}; break; // GREEN
case SupportPointCause::UnstableFloatingPart: color = {0.105469f, 0.699219f, 0.84375f}; break; // BLUE
case SupportPointCause::WeakObjectPart: color = {0.609375f, 0.210938f, 0.621094f}; break; // PURPLE
}
fprintf(fp, "v %f %f %f %f %f %f\n", support_points[i].position(0), support_points[i].position(1),
support_points[i].position(2), color[0], color[1], color[2]);
}
for (size_t i = 0; i < objects.size(); ++i) {
Vec3f color{1.0f, 0.0f, 1.0f};
if (objects[i].connected_to_bed) {
color = {1.0f, 0.0f, 0.0f};
}
fprintf(fp, "v %f %f %f %f %f %f\n", objects[i].centroid(0), objects[i].centroid(1), objects[i].centroid(2), color[0],
color[1], color[2]);
}
fclose(fp);
}
}
#endif
std::tuple<SupportPoints, PartialObjects> full_search(const PrintObject *po, const PrintTryCancel& cancel_func, const Params &params)
{
auto precomputed_slices_connections = precompute_slices_connections(po);
auto results = check_stability(po, precomputed_slices_connections, cancel_func, params);
#ifdef DEBUG_FILES
auto [supp_points, objects] = results;
debug_export(supp_points, objects, "issues");
#endif
return results;
}
void estimate_supports_malformations(SupportLayerPtrs &layers, float flow_width, const Params &params)
{
#ifdef DEBUG_FILES
FILE *debug_file = boost::nowide::fopen(debug_out_path("supports_malformations.obj").c_str(), "w");
FILE *full_file = boost::nowide::fopen(debug_out_path("supports_full.obj").c_str(), "w");
#endif
AABBTreeLines::LinesDistancer<ExtrusionLine> prev_layer_lines{};
for (SupportLayer *l : layers) {
l->curled_lines.clear();
std::vector<ExtrusionLine> current_layer_lines;
for (const ExtrusionEntity *extrusion : l->support_fills.flatten().entities) {
Polyline pl = extrusion->as_polyline();
Polygon pol(pl.points);
pol.make_counter_clockwise();
auto annotated_points = estimate_points_properties<true, true, false, false>(pol.points, prev_layer_lines, flow_width);
for (size_t i = 0; i < annotated_points.size(); ++i) {
const ExtendedPoint &a = i > 0 ? annotated_points[i - 1] : annotated_points[i];
const ExtendedPoint &b = annotated_points[i];
ExtrusionLine line_out{a.position.cast<float>(), b.position.cast<float>(), float((a.position - b.position).norm()),
extrusion};
Vec2f middle = 0.5 * (line_out.a + line_out.b);
auto [middle_distance, bottom_line_idx, x] = prev_layer_lines.distance_from_lines_extra<false>(middle);
ExtrusionLine bottom_line = prev_layer_lines.get_lines().empty() ? ExtrusionLine{} :
prev_layer_lines.get_line(bottom_line_idx);
Vec2f v1 = (bottom_line.b - bottom_line.a);
Vec2f v2 = (a.position.cast<float>() - bottom_line.a);
auto d = (v1.x() * v2.y()) - (v1.y() * v2.x());
float sign = (d > 0) ? -1.0f : 1.0f;
line_out.curled_up_height = estimate_curled_up_height(middle_distance * sign, 0.5 * (a.curvature + b.curvature), l->height,
flow_width, bottom_line.curled_up_height, params);
current_layer_lines.push_back(line_out);
}
}
for (const ExtrusionLine &line : current_layer_lines) {
if (line.curled_up_height > params.curling_tolerance_limit) {
l->curled_lines.push_back(CurledLine{Point::new_scale(line.a), Point::new_scale(line.b), line.curled_up_height});
}
}
#ifdef DEBUG_FILES
for (const ExtrusionLine &line : current_layer_lines) {
if (line.curled_up_height > params.curling_tolerance_limit) {
Vec3f color = value_to_rgbf(-EPSILON, l->height * params.max_curled_height_factor, line.curled_up_height);
fprintf(debug_file, "v %f %f %f %f %f %f\n", line.b[0], line.b[1], l->print_z, color[0], color[1], color[2]);
}
}
for (const ExtrusionLine &line : current_layer_lines) {
Vec3f color = value_to_rgbf(-EPSILON, l->height * params.max_curled_height_factor, line.curled_up_height);
fprintf(full_file, "v %f %f %f %f %f %f\n", line.b[0], line.b[1], l->print_z, color[0], color[1], color[2]);
}
#endif
prev_layer_lines = LD{current_layer_lines};
}
#ifdef DEBUG_FILES
fclose(debug_file);
fclose(full_file);
#endif
}
void estimate_malformations(LayerPtrs &layers, const Params &params)
{
#ifdef DEBUG_FILES
FILE *debug_file = boost::nowide::fopen(debug_out_path("object_malformations.obj").c_str(), "w");
FILE *full_file = boost::nowide::fopen(debug_out_path("object_full.obj").c_str(), "w");
#endif
LD prev_layer_lines{};
for (Layer *l : layers) {
l->curled_lines.clear();
std::vector<Linef> boundary_lines = l->lower_layer != nullptr ? to_unscaled_linesf(l->lower_layer->lslices) : std::vector<Linef>();
AABBTreeLines::LinesDistancer<Linef> prev_layer_boundary{std::move(boundary_lines)};
std::vector<ExtrusionLine> current_layer_lines;
for (const LayerRegion *layer_region : l->regions()) {
for (const ExtrusionEntity *extrusion : layer_region->perimeters().flatten().entities) {
if (!extrusion->role().is_external_perimeter())
continue;
Points extrusion_pts;
extrusion->collect_points(extrusion_pts);
float flow_width = get_flow_width(layer_region, extrusion->role());
auto annotated_points = estimate_points_properties<true, true, false, false>(extrusion_pts, prev_layer_lines, flow_width,
params.bridge_distance);
for (size_t i = 0; i < annotated_points.size(); ++i) {
const ExtendedPoint &a = i > 0 ? annotated_points[i - 1] : annotated_points[i];
const ExtendedPoint &b = annotated_points[i];
ExtrusionLine line_out{a.position.cast<float>(), b.position.cast<float>(), float((a.position - b.position).norm()),
extrusion};
Vec2f middle = 0.5 * (line_out.a + line_out.b);
auto [middle_distance, bottom_line_idx, x] = prev_layer_lines.distance_from_lines_extra<false>(middle);
ExtrusionLine bottom_line = prev_layer_lines.get_lines().empty() ? ExtrusionLine{} :
prev_layer_lines.get_line(bottom_line_idx);
// correctify the distance sign using slice polygons
float sign = (prev_layer_boundary.distance_from_lines<true>(middle.cast<double>()) + 0.5f * flow_width) < 0.0f ? -1.0f : 1.0f;
line_out.curled_up_height = estimate_curled_up_height(middle_distance * sign, 0.5 * (a.curvature + b.curvature),
l->height, flow_width, bottom_line.curled_up_height, params);
current_layer_lines.push_back(line_out);
}
}
}
for (const ExtrusionLine &line : current_layer_lines) {
if (line.curled_up_height > params.curling_tolerance_limit) {
l->curled_lines.push_back(CurledLine{Point::new_scale(line.a), Point::new_scale(line.b), line.curled_up_height});
}
}
#ifdef DEBUG_FILES
for (const ExtrusionLine &line : current_layer_lines) {
if (line.curled_up_height > params.curling_tolerance_limit) {
Vec3f color = value_to_rgbf(-EPSILON, l->height * params.max_curled_height_factor, line.curled_up_height);
fprintf(debug_file, "v %f %f %f %f %f %f\n", line.b[0], line.b[1], l->print_z, color[0], color[1], color[2]);
}
}
for (const ExtrusionLine &line : current_layer_lines) {
Vec3f color = value_to_rgbf(-EPSILON, l->height * params.max_curled_height_factor, line.curled_up_height);
fprintf(full_file, "v %f %f %f %f %f %f\n", line.b[0], line.b[1], l->print_z, color[0], color[1], color[2]);
}
#endif
prev_layer_lines = LD{current_layer_lines};
}
#ifdef DEBUG_FILES
fclose(debug_file);
fclose(full_file);
#endif
}
std::vector<std::pair<SupportPointCause, bool>> gather_issues(const SupportPoints &support_points, PartialObjects &partial_objects)
{
std::vector<std::pair<SupportPointCause, bool>> result;
// The partial object are most likely sorted from smaller to larger as the print continues, so this should save some sorting time
std::reverse(partial_objects.begin(), partial_objects.end());
std::sort(partial_objects.begin(), partial_objects.end(),
[](const PartialObject &left, const PartialObject &right) { return left.volume > right.volume; });
// Object may have zero extrusions and thus no partial objects. (e.g. very tiny object)
float max_volume_part = partial_objects.empty() ? 0.0f : partial_objects.front().volume;
for (const PartialObject &p : partial_objects) {
if (p.volume > max_volume_part / 200.0f && !p.connected_to_bed) {
result.emplace_back(SupportPointCause::UnstableFloatingPart, true);
break;
}
}
// should be detected in previous step
// if (!unstable_floating_part_added) {
// for (const SupportPoint &sp : support_points) {
// if (sp.cause == SupportPointCause::UnstableFloatingPart) {
// result.emplace_back(SupportPointCause::UnstableFloatingPart, true);
// break;
// }
// }
// }
std::vector<SupportPoint> ext_supp_points{};
ext_supp_points.reserve(support_points.size());
for (const SupportPoint &sp : support_points) {
switch (sp.cause) {
case SupportPointCause::FloatingBridgeAnchor:
case SupportPointCause::FloatingExtrusion: ext_supp_points.push_back(sp); break;
default: break;
}
}
auto coord_fn = [&ext_supp_points](size_t idx, size_t dim) { return ext_supp_points[idx].position[dim]; };
KDTreeIndirect<3, float, decltype(coord_fn)> ext_points_tree{coord_fn, ext_supp_points.size()};
for (const SupportPoint &sp : ext_supp_points) {
auto cluster = find_nearby_points(ext_points_tree, sp.position, 3.0);
int score = 0;
bool floating_bridge = false;
for (size_t idx : cluster) {
score += ext_supp_points[idx].cause == SupportPointCause::FloatingBridgeAnchor ? 3 : 1;
floating_bridge = floating_bridge || ext_supp_points[idx].cause == SupportPointCause::FloatingBridgeAnchor;
}
if (score > 5) {
if (floating_bridge) {
result.emplace_back(SupportPointCause::FloatingBridgeAnchor, true);
} else {
result.emplace_back(SupportPointCause::FloatingExtrusion, true);
}
break;
}
}
for (const SupportPoint &sp : support_points) {
if (sp.cause == SupportPointCause::SeparationFromBed) {
result.emplace_back(SupportPointCause::SeparationFromBed, true);
break;
}
}
for (const SupportPoint &sp : support_points) {
if (sp.cause == SupportPointCause::WeakObjectPart) {
result.emplace_back(SupportPointCause::WeakObjectPart, true);
break;
}
}
if (ext_supp_points.size() > max_volume_part / 200.0f) {
result.emplace_back(SupportPointCause::FloatingExtrusion, false);
}
for (const SupportPoint &sp : support_points) {
if (sp.cause == SupportPointCause::LongBridge) {
result.emplace_back(SupportPointCause::LongBridge, false);
break;
}
}
return result;
}
} // namespace SupportSpotsGenerator
} // namespace Slic3r
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