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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,210 @@ | ||
| // Copyright (c) 2023 Ultimaker B.V. | ||
| // CuraEngine is released under the terms of the AGPLv3 or higher | ||
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| #include "AABB.h" | ||
| #include "utils/IntPoint.h" | ||
| #include <sstream> | ||
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| #ifndef CURAENGINE_BOUNDEDAREAHIERARCHY_H | ||
| #define CURAENGINE_BOUNDEDAREAHIERARCHY_H | ||
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| namespace cura | ||
| { | ||
| template<typename edge_data> | ||
| class BoundedAreaHierarchy | ||
| { | ||
| struct Edge | ||
| { | ||
| const Point start; | ||
| const Point end; | ||
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| Edge(const Point start, const Point end) : start(start), end(end) | ||
| { | ||
| } | ||
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| AABB getAABB() const | ||
| { | ||
| AABB aabb; | ||
| aabb.include(start); | ||
| aabb.include(end); | ||
| return aabb; | ||
| } | ||
| }; | ||
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| struct Node | ||
| { | ||
| AABB aabb; | ||
| // if child_a is 0, then this is a leaf node, child_b | ||
| // is the index of the edge in the edges vector | ||
| // this works as the first element of the bounded_area_hierarchy-tree | ||
| // is the root; no child points to the root in a tree data structure | ||
| int child_a; | ||
| int child_b; | ||
| }; | ||
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| std::vector<std::pair<Edge, edge_data>> edges; | ||
| std::vector<Node> bounded_area_hierarchy; | ||
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| /*! | ||
| * \brief calculate_bounds | ||
| * \param start index of the first edge to include | ||
| * \param end index of the last edge to include (inclusive) | ||
| * \return the bounding box of the edges | ||
| */ | ||
| AABB calculate_bounds(const int start, const int end) | ||
| { | ||
| AABB aabb; | ||
| for (int i = start; i <= end; i++) | ||
| { | ||
| aabb.include(edges[i].first.getAABB()); | ||
| } | ||
| return aabb; | ||
| } | ||
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| // Quicksort algorithm based on https://www.geeksforgeeks.org/cpp-program-for-quicksort/ | ||
| void quick_sort_primitives(const int axis, const int first, const int last) { | ||
| if (first < last) { | ||
| float pivot = get_axis(axis, vertices[indices[(first + last) / 2] * 3]); | ||
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| int i = first - 1; | ||
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| for (int j = first; j <= last - 1; j ++) { | ||
| if (get_axis(axis, centroids[indices[j]]) <= pivot) { | ||
| i++; | ||
| Swap(&indices[i], &indices[j]); | ||
| } | ||
| } | ||
| Swap(&indices[i + 1], &indices[last]); | ||
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| int pivotIndex = i + 1; | ||
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| QuickSortPrimitives(axis, first, pivotIndex - 1); | ||
| QuickSortPrimitives(axis, pivotIndex + 1, last); | ||
| } | ||
| } | ||
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| void construct_search_structure(const int start, const int end) | ||
| { | ||
| if (end - start == 1) | ||
| { | ||
| bounded_area_hierarchy[start].child_a = 0; | ||
| bounded_area_hierarchy[start].child_b = start; | ||
| return; | ||
| } | ||
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| edges.sort(start, end, [](const std::pair<Edge, edge_data>& a, const std::pair<Edge, edge_data>& b) { | ||
| return a.first.getAABB().getCenter().x < b.first.getAABB().getCenter().x; | ||
| }); | ||
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| const int middle = (start + end) / 2; | ||
| construct_search_structure(start, middle); | ||
| construct_search_structure(middle, end); | ||
| bounded_area_hierarchy[start].child_a = middle; | ||
| bounded_area_hierarchy[start].child_b = 0; | ||
| bounded_area_hierarchy[start].aabb = bounded_area_hierarchy[start].aabb.combine(bounded_area_hierarchy[middle].aabb); | ||
| } | ||
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| public: | ||
| BoundedAreaHierarchy(); | ||
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| /*! | ||
| * \brief insert_edge inserts an edge into the bounded area hierarchy | ||
| * \param start the start point of the edge | ||
| * \param end the end point of the edge | ||
| * \param data the data associated with the edge | ||
| */ | ||
| void insert_edge(const Point start, const Point end, const edge_data data) | ||
| { | ||
| edges.emplace_back(Edge(start, end), data); | ||
| } | ||
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| void draw_debug_svg(const std::string file_name) | ||
| { | ||
| if (! bounded_area_hierarchy.empty()) return; | ||
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| AABB outer_aabb = bounded_area_hierarchy[0].aabb; | ||
| outer_aabb.expand(1000); | ||
| SVG svg(file_name, outer_aabb); | ||
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| std::vector<int> stack; | ||
| stack.push_back(0); | ||
| while (!stack.empty()) | ||
| { | ||
| const int node_index = stack.back(); | ||
| stack.pop_back(); | ||
| const Node& node = bounded_area_hierarchy[node_index]; | ||
| const AABB aabb = node.aabb; | ||
| const Polygon polygons = aabb.toPolygon(); | ||
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| svg.writePolygon(polygons); | ||
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| if (node.child_a == 0) | ||
| { | ||
| const int edge_index = node.child_b; | ||
| const Edge& edge = edges[edge_index].first; | ||
| svg.writeLine(edge.start, edge.end); | ||
| } | ||
| else | ||
| { | ||
| stack.push_back(node.child_a); | ||
| stack.push_back(node.child_b); | ||
| } | ||
| } | ||
| } | ||
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| void construct_search_structure() | ||
| { | ||
| bounded_area_hierarchy.clear(); | ||
| bounded_area_hierarchy.reserve(edges.size() * 2 - 1); | ||
| for (const auto& edge : edges) | ||
| { | ||
| bounded_area_hierarchy.emplace_back(Node{ edge.first.getAABB(), 0, 0 }); | ||
| } | ||
| construct_search_structure(0, edges.size()); | ||
| } | ||
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| void radius_search(const Point point, const coord_t radius, std::vector<edge_data> result) const | ||
| { | ||
| std::vector<int> stack; | ||
| stack.push_back(0); | ||
| while (! stack.empty()) | ||
| { | ||
| const int node_index = stack.back(); | ||
| stack.pop_back(); | ||
| const Node& node = bounded_area_hierarchy[node_index]; | ||
| if (node.child_a == 0) | ||
| { | ||
| const int edge_index = node.child_b; | ||
| const Edge& edge = edges[edge_index].first; | ||
| if (edge.start.distance_to(point) < radius || edge.end.distance_to(point) < radius) | ||
| { | ||
| result.push_back(edges[edge_index].second); | ||
| } | ||
| } | ||
| else | ||
| { | ||
| const Node& child_a = bounded_area_hierarchy[node.child_a]; | ||
| const Node& child_b = bounded_area_hierarchy[node.child_b]; | ||
| if (child_a.aabb.distance_to(point) < radius) | ||
| { | ||
| stack.push_back(node.child_a); | ||
| } | ||
| if (child_b.aabb.distance_to(point) < radius) | ||
| { | ||
| stack.push_back(node.child_b); | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| std::vector<edge_data> radius_search(const Point point, const coord_t radius) const | ||
| { | ||
| std::vector<edge_data> result; | ||
| radius_search(point, radius, result); | ||
| return result; | ||
| } | ||
| }; | ||
| } // namespace cura | ||
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| #endif // CURAENGINE_BOUNDEDAREAHIERARCHY_H |
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