From afd9a27e64e52b14b6147dc984654e072cae8ff6 Mon Sep 17 00:00:00 2001 From: Erwan MATHIEU Date: Wed, 11 Dec 2024 19:43:06 +0100 Subject: [PATCH] Basically working gradual overhang speed CURA-11966 --- doc/gradual_overhang_speed.svg | 857 +++++++++++++++++++++++++++++++++ include/LayerPlan.h | 24 +- include/geometry/Shape.h | 8 + src/FffGcodeWriter.cpp | 53 +- src/LayerPlan.cpp | 141 +++++- src/geometry/Shape.cpp | 19 + 6 files changed, 1061 insertions(+), 41 deletions(-) create mode 100644 doc/gradual_overhang_speed.svg diff --git a/doc/gradual_overhang_speed.svg b/doc/gradual_overhang_speed.svg new file mode 100644 index 0000000000..cec3bfbd83 --- /dev/null +++ b/doc/gradual_overhang_speed.svg @@ -0,0 +1,857 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 100% + 75% + 50% + 25% + 0-60° + 60-75° + 75-90° + Threshold Angle 60° + Speeds [75, 50, 25] + + + + + + + + + + + + + + + + 100% + 50% + 0-60° + Threshold Angle 60° + Speeds [50] + + + + + + + + + + + + + 100% + Threshold Angle 90° + Speeds doesn't matter + + + + + + + + + + + + + + + + + + + + + + + + 75% + 50% + 25% + 0-45° + 45-90° + 90° + Threshold Angle 0° + Speeds [75, 50, 25] + 100% + 0° + 90° + + Part outline + + Speed region + + Next extrusion path + + Existing vertex of extrusion path + + New vertex of extrusion path + + diff --git a/include/LayerPlan.h b/include/LayerPlan.h index a4fcc1fc0a..149138e9cb 100644 --- a/include/LayerPlan.h +++ b/include/LayerPlan.h @@ -62,7 +62,7 @@ class LayerPlan : public NoCopy public: struct OverhangMask { - Shape mask; + Shape supported_region; Ratio speed_ratio; }; @@ -121,8 +121,8 @@ class LayerPlan : public NoCopy Comb* comb_; coord_t comb_move_inside_distance_; //!< Whenever using the minimum boundary for combing it tries to move the coordinates inside by this distance after calculating the combing. Shape bridge_wall_mask_; //!< The regions of a layer part that are not supported, used for bridging - std::vector - overhang_masks_; //!< The regions of a layer part where the walls overhang, calculated for multiple overhang angles. The latter is the most overhanging. + std::vector overhang_masks_; //!< The regions of a layer part where the walls overhang, calculated for multiple overhang angles. The latter is the most + //!< overhanging. For a visual explanation of the result, see doc/gradual_overhang_speed.svg Shape seam_overhang_mask_; //!< The regions of a layer part where the walls overhang, specifically as defined for the seam Shape roofing_mask_; //!< The regions of a layer part where the walls are exposed to the air @@ -400,6 +400,17 @@ class LayerPlan : public NoCopy const double fan_speed = GCodePathConfig::FAN_SPEED_DEFAULT, const bool travel_to_z = true); + void addExtrusionMoveWithGradualOverhang( + const Point3LL& p, + const GCodePathConfig& config, + const SpaceFillType space_fill_type, + const Ratio& flow = 1.0_r, + const Ratio width_factor = 1.0_r, + const bool spiralize = false, + const Ratio speed_factor = 1.0_r, + const double fan_speed = GCodePathConfig::FAN_SPEED_DEFAULT, + const bool travel_to_z = true); + /*! * Add polygon to the gcode starting at vertex \p startIdx * \param polygon The polygon @@ -1007,13 +1018,6 @@ class LayerPlan : public NoCopy * \return The distance from the start of the current wall line to the first bridge segment */ coord_t computeDistanceToBridgeStart(const ExtrusionLine& wall, const size_t current_index, const coord_t min_bridge_line_len) const; - - /*! - * \brief Calculates whether the given segment is to be treated as overhanging - * \param p0 The start point of the segment - * \param p1 The end point of the segment - */ - bool segmentIsOnOverhang(const Point3LL& p0, const Point3LL& p1) const; }; } // namespace cura diff --git a/include/geometry/Shape.h b/include/geometry/Shape.h index 552325676f..4397036633 100644 --- a/include/geometry/Shape.h +++ b/include/geometry/Shape.h @@ -256,6 +256,14 @@ class Shape : public LinesSet */ void simplify(ClipperLib::PolyFillType fill_type = ClipperLib::pftEvenOdd); + /*! + * Calculates the intersections between the given segment and all the segments of the shape + * @param start The start position of the segment + * @param end The end position of the segment + * @return The parameters of the intersections on the segment (intersection = start + t * (end - start)), unsorted + */ + std::vector intersectionsWithSegment(const Point2LL& start, const Point2LL& end) const; + #ifdef BUILD_TESTS /*! * @brief Import the polygon from a WKT string diff --git a/src/FffGcodeWriter.cpp b/src/FffGcodeWriter.cpp index e164cb475a..567e6d821a 100644 --- a/src/FffGcodeWriter.cpp +++ b/src/FffGcodeWriter.cpp @@ -3080,36 +3080,61 @@ bool FffGcodeWriter::processInsets( gcode_layer.setBridgeWallMask(Shape()); } - const auto get_overhang_region = [&](const AngleDegrees overhang_angle) -> Shape + const Shape fully_supported_region = outlines_below.offset(-half_outer_wall_width); + const Shape part_print_region = part.outline.offset(-half_outer_wall_width); + + const auto get_supported_region = [&fully_supported_region, &layer_height](const AngleDegrees& overhang_angle) -> Shape { // the overhang mask is set to the area of the current part's outline minus the region that is considered to be supported // the supported region is made up of those areas that really are supported by either model or support on the layer below // expanded to take into account the overhang angle, the greater the overhang angle, the larger the supported area is // considered to be - const coord_t overhang_width = layer_height * std::tan(overhang_angle / (180 / std::numbers::pi)); - return part.outline.offset(-half_outer_wall_width).difference(outlines_below.offset(10 + overhang_width - half_outer_wall_width)).offset(10); + const coord_t overhang_width = layer_height * std::tan(AngleRadians(overhang_angle)); + return fully_supported_region.offset(overhang_width + 10); }; - // Build overhang masks for all the overhang speeds +#warning remove SVG writing + SVG svg(fmt::format("/tmp/overhang_mask_{}.svg", gcode_layer.getLayerNr().value), storage.getMachineBorder(), 0.001); + svg.writePolygons(part.outline, SVG::Color::BLACK, 0.01); + + // Build supported regions for all the overhang speeds. For a visual explanation of the result, see doc/gradual_overhang_speed.svg std::vector overhang_masks; const auto overhang_speed_factors = mesh.settings.get>("wall_overhang_speed_factors"); const size_t overhang_angles_count = overhang_speed_factors.size(); - if (overhang_angles_count > 0) + const auto wall_overhang_angle = mesh.settings.get("wall_overhang_angle"); + if (overhang_angles_count > 0 && wall_overhang_angle < 90.0) { - const auto wall_overhang_angle = mesh.settings.get("wall_overhang_angle"); - if (wall_overhang_angle < 90.0) + const AngleDegrees overhang_step = (90.0 - wall_overhang_angle) / static_cast(overhang_angles_count); + for (size_t angle_index = 0; angle_index < overhang_angles_count; ++angle_index) { - const AngleDegrees overhang_step = (90.0 - wall_overhang_angle) / static_cast(overhang_angles_count); - for (size_t angle_index = 0; angle_index < overhang_angles_count; ++angle_index) - { - const AngleDegrees actual_wall_overhang_angle = wall_overhang_angle + static_cast(angle_index) * overhang_step; - overhang_masks.emplace_back(get_overhang_region(actual_wall_overhang_angle), overhang_speed_factors[angle_index]); - } + const AngleDegrees actual_wall_overhang_angle = wall_overhang_angle + static_cast(angle_index) * overhang_step; + const Ratio speed_factor = angle_index == 0 ? 1.0_r : overhang_speed_factors[angle_index - 1]; + + overhang_masks.emplace_back(get_supported_region(actual_wall_overhang_angle), speed_factor); + } + + // Add an empty region, which actually means everything and should be ignored anyway + overhang_masks.emplace_back(Shape(), overhang_speed_factors.back()); + + for (const auto& region : overhang_masks) + { + svg.writePolygons(region.supported_region, SVG::Color::RAINBOW, 0.01); } } gcode_layer.setOverhangMasks(overhang_masks); - gcode_layer.setSeamOverhangMask(get_overhang_region(mesh.settings.get("seam_overhang_angle"))); + // the seam overhang mask is set to the area of the current part's outline minus the region that is considered to be supported, + // which will then be empty if everything is considered supported i.r.t. the angle + const AngleDegrees seam_overhang_angle = mesh.settings.get("seam_overhang_angle"); + if (seam_overhang_angle < 90.0) + { + const Shape supported_region_seam = get_supported_region(seam_overhang_angle); + gcode_layer.setSeamOverhangMask(part_print_region.difference(supported_region_seam).offset(10)); + } + else + { + gcode_layer.setSeamOverhangMask(Shape()); + } const auto roofing_mask_fn = [&]() -> Shape { diff --git a/src/LayerPlan.cpp b/src/LayerPlan.cpp index 170bcfa18b..0617d04a54 100644 --- a/src/LayerPlan.cpp +++ b/src/LayerPlan.cpp @@ -558,6 +558,124 @@ void LayerPlan::addExtrusionMove( last_planned_position_ = p.toPoint2LL(); } +void LayerPlan::addExtrusionMoveWithGradualOverhang( + const Point3LL& p, + const GCodePathConfig& config, + const SpaceFillType space_fill_type, + const Ratio& flow, + const Ratio width_factor, + const bool spiralize, + const Ratio speed_factor, + const double fan_speed, + const bool travel_to_z) +{ + const auto add_extrusion_move = [&](const Point3LL& target, const Ratio& overhang_speed_factor = 1.0_r) + { + addExtrusionMove(target, config, space_fill_type, flow, width_factor, spiralize, speed_factor * overhang_speed_factor, fan_speed, travel_to_z); + }; + + if (overhang_masks_.empty() || ! last_planned_position_.has_value()) + { + // Unable to apply gradual overhanging (probably just disabled), just add the basic extrusion move + add_extrusion_move(p); + return; + } + + // First, find the speed region where the segment starts + const Point2LL start = last_planned_position_.value(); + size_t actual_speed_region_index = overhang_masks_.size() - 1; // Default to last region, which is infinity and beyond + for (const auto& [index, overhang_region] : overhang_masks_ | ranges::views::drop_last(1) | ranges::views::enumerate) + { + if (overhang_region.supported_region.inside(start, true)) + { + actual_speed_region_index = index; + break; + } + } + + // Pre-calculate the intersections of the segment with all regions (except last one, you cannot intersect an infinite plane) + const Point2LL end = p.toPoint2LL(); + const Point2LL vector = end - start; + std::vector> speed_regions_intersections; + speed_regions_intersections.reserve(overhang_masks_.size() - 1); + for (const OverhangMask& overhang_region : overhang_masks_ | ranges::views::drop_last(1)) + { + std::vector intersections = overhang_region.supported_region.intersectionsWithSegment(start, end); + ranges::sort(intersections); + speed_regions_intersections.push_back(intersections); + if (! intersections.empty()) + { + spdlog::debug("coucou"); + } + } + + const auto remove_previous_intersections = [&speed_regions_intersections](const float current_intersection) + { + for (std::vector& intersections : speed_regions_intersections) + { + auto iterator = ranges::find_if( + intersections, + [¤t_intersection](const float next_intersection) + { + return next_intersection > current_intersection; + }); + + intersections.erase(intersections.begin(), iterator); + } + }; + + // Now move along segment and split it where we cross speed regions + while (true) + { + // First, see if we cross either the border or our current region (go out) or the border of the inner region (go in) + auto get_first_intersection = [](const std::vector* intersections) -> std::optional + { + return intersections != nullptr && ! intersections->empty() ? std::make_optional(intersections->front()) : std::nullopt; + }; + + std::vector* intersections_current_region + = actual_speed_region_index < speed_regions_intersections.size() ? &speed_regions_intersections[actual_speed_region_index] : nullptr; + const std::optional first_intersection_current_region = get_first_intersection(intersections_current_region); + + std::vector* intersections_inner_region = actual_speed_region_index > 0 ? &speed_regions_intersections[actual_speed_region_index - 1] : nullptr; + const std::optional first_intersection_inner_region = get_first_intersection(intersections_inner_region); + + if (first_intersection_current_region.has_value() || first_intersection_inner_region.has_value()) + { + float intersection_parameter; + size_t next_speed_region_index; + + if (first_intersection_current_region.has_value() + && (! first_intersection_inner_region.has_value() || first_intersection_inner_region.value() > first_intersection_current_region.value())) + { + // We crossed the border of the current region, which means we are getting out of it to an outer region + intersection_parameter = first_intersection_current_region.value(); + next_speed_region_index = actual_speed_region_index + 1; + } + else + { + // We crossed the border of the inner region, which means we are getting inside of it + intersection_parameter = first_intersection_inner_region.value(); + next_speed_region_index = actual_speed_region_index - 1; + } + + // Move to intersection at current region speed + const Point2LL split_position = start + vector * intersection_parameter; + add_extrusion_move(split_position, overhang_masks_[actual_speed_region_index].speed_ratio); + + // Prepare for next move in different region + actual_speed_region_index = next_speed_region_index; + remove_previous_intersections(intersection_parameter); + } + else + { + // We cross no border, which means we can reach the end of the segment within the current speed region, so we are done + add_extrusion_move(p, overhang_masks_[actual_speed_region_index].speed_ratio); + return; + } + } +} + template void LayerPlan::addWipeTravel(const PathAdapter& path, const coord_t wipe_distance, const bool backwards, const size_t start_index, const Point2LL& last_path_position) { @@ -732,8 +850,6 @@ void LayerPlan::addWallLine( const coord_t min_bridge_line_len = settings.get("bridge_wall_min_length"); const Ratio bridge_wall_coast = settings.get("bridge_wall_coast"); - const Ratio overhang_speed_factor = settings.get("wall_overhang_speed_factor"); - const auto overhang_speed_factors = settings.get>("wall_overhang_speed_factors"); Point3LL cur_point = p0; @@ -799,14 +915,14 @@ void LayerPlan::addWallLine( else { // no coasting required, just normal segment using non-bridge config - addExtrusionMove( + addExtrusionMoveWithGradualOverhang( segment_end, default_config, SpaceFillType::Polygons, segment_flow, width_factor, spiralize, - segmentIsOnOverhang(p0, p1) ? overhang_speed_factor : speed_factor, + speed_factor, GCodePathConfig::FAN_SPEED_DEFAULT, travel_to_z); } @@ -816,14 +932,14 @@ void LayerPlan::addWallLine( else { // no coasting required, just normal segment using non-bridge config - addExtrusionMove( + addExtrusionMoveWithGradualOverhang( segment_end, default_config, SpaceFillType::Polygons, segment_flow, width_factor, spiralize, - segmentIsOnOverhang(p0, p1) ? overhang_speed_factor : speed_factor, + speed_factor, GCodePathConfig::FAN_SPEED_DEFAULT, travel_to_z); } @@ -921,14 +1037,14 @@ void LayerPlan::addWallLine( else if (bridge_wall_mask_.empty()) { // no bridges required - addExtrusionMove( + addExtrusionMoveWithGradualOverhang( p1, default_config, SpaceFillType::Polygons, flow, width_factor, spiralize, - segmentIsOnOverhang(p0, p1) ? overhang_speed_factor : speed_factor, + speed_factor, GCodePathConfig::FAN_SPEED_DEFAULT, travel_to_z); } @@ -1948,15 +2064,6 @@ void LayerPlan::addLinesInGivenOrder( } } -bool LayerPlan::segmentIsOnOverhang(const Point3LL& p0, const Point3LL& p1) const -{ - // const OpenPolyline segment{ p0.toPoint2LL(), p1.toPoint2LL() }; - // const OpenLinesSet intersected_lines = overhang_mask_.intersection(OpenLinesSet{ segment }); - // return ! intersected_lines.empty() && (static_cast(intersected_lines.length()) / segment.length()) > 0.5; - - return false; -} - void LayerPlan::sendLineTo(const GCodePath& path, const Point3LL& position, const double extrude_speed) { Application::getInstance().communication_->sendLineTo( diff --git a/src/geometry/Shape.cpp b/src/geometry/Shape.cpp index 61d029c4e2..b16d68b336 100644 --- a/src/geometry/Shape.cpp +++ b/src/geometry/Shape.cpp @@ -890,6 +890,25 @@ void Shape::simplify(ClipperLib::PolyFillType fill_type) } } +std::vector Shape::intersectionsWithSegment(const Point2LL& start, const Point2LL& end) const +{ + std::vector result; + + for (const Polygon& polygon : getLines()) + { + for (auto iterator = polygon.beginSegments(); iterator != polygon.endSegments(); ++iterator) + { + float t, u; + if (LinearAlg2D::segmentSegmentIntersection(start, end, (*iterator).start, (*iterator).end, t, u)) + { + result.push_back(t); + } + } + } + + return result; +} + void Shape::ensureManifold() { std::vector duplicate_locations;