/usr/share/perl5/Slic3r/GCode/MotionPlanner.pm is in slic3r 1.2.9+dfsg-2build1.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 | package Slic3r::GCode::MotionPlanner;
use Moo;
has 'islands' => (is => 'ro', required => 1); # arrayref of ExPolygons
has 'internal' => (is => 'ro', default => sub { 1 });
has '_space' => (is => 'ro', default => sub { Slic3r::GCode::MotionPlanner::ConfigurationSpace->new });
has '_inner' => (is => 'ro', default => sub { [] }); # arrayref of ExPolygons
use List::Util qw(first max);
use Slic3r::Geometry qw(A B scale epsilon);
use Slic3r::Geometry::Clipper qw(offset offset_ex diff_ex intersection_pl);
# clearance (in mm) from the perimeters
has '_inner_margin' => (is => 'ro', default => sub { scale 1 });
has '_outer_margin' => (is => 'ro', default => sub { scale 2 });
# this factor weigths the crossing of a perimeter
# vs. the alternative path. a value of 5 means that
# a perimeter will be crossed if the alternative path
# is >= 5x the length of the straight line we could
# follow if we decided to cross the perimeter.
# a nearly-infinite value for this will only permit
# perimeter crossing when there's no alternative path.
use constant CROSSING_PENALTY => 20;
use constant POINT_DISTANCE => 10; # unscaled
# setup our configuration space
sub BUILD {
my $self = shift;
my $point_distance = scale POINT_DISTANCE;
my $nodes = $self->_space->nodes;
my $edges = $self->_space->edges;
# process individual islands
for my $i (0 .. $#{$self->islands}) {
my $expolygon = $self->islands->[$i];
# find external margin
my $outer = offset([ @$expolygon ], +$self->_outer_margin);
my @outer_points = map @{$_->equally_spaced_points($point_distance)}, @$outer;
# add outer points to graph
my $o_outer = $self->_space->add_nodes(@outer_points);
# find pairs of visible outer points and add them to the graph
for my $i (0 .. $#outer_points) {
for my $j (($i+1) .. $#outer_points) {
my ($a, $b) = ($outer_points[$i], $outer_points[$j]);
my $line = Slic3r::Polyline->new($a, $b);
# outer points are visible when their line has empty intersection with islands
my $intersection = intersection_pl(
[ $line ],
[ map @$_, @{$self->islands} ],
);
if (!@$intersection) {
$self->_space->add_edge($i+$o_outer, $j+$o_outer, $line->length);
}
}
}
if ($self->internal) {
# find internal margin
my $inner = offset_ex([ @$expolygon ], -$self->_inner_margin);
push @{ $self->_inner }, @$inner;
my @inner_points = map @{$_->equally_spaced_points($point_distance)}, map @$_, @$inner;
# add points to graph and get their offset
my $o_inner = $self->_space->add_nodes(@inner_points);
# find pairs of visible inner points and add them to the graph
for my $i (0 .. $#inner_points) {
for my $j (($i+1) .. $#inner_points) {
my ($a, $b) = ($inner_points[$i], $inner_points[$j]);
my $line = Slic3r::Line->new($a, $b);
# turn $inner into an ExPolygonCollection and use $inner->contains_line()
if (first { $_->contains_line($line) } @$inner) {
$self->_space->add_edge($i+$o_inner, $j+$o_inner, $line->length);
}
}
}
# generate the stripe around slice contours
my $contour = diff_ex(
$outer,
[ map @$_, @$inner ],
);
# find pairs of visible points in this area and add them to the graph
for my $i (0 .. $#inner_points) {
for my $j (0 .. $#outer_points) {
my ($a, $b) = ($inner_points[$i], $outer_points[$j]);
my $line = Slic3r::Line->new($a, $b);
# turn $contour into an ExPolygonCollection and use $contour->contains_line()
if (first { $_->contains_line($line) } @$contour) {
$self->_space->add_edge($i+$o_inner, $j+$o_outer, $line->length * CROSSING_PENALTY);
}
}
}
}
}
# since Perl has no infinity symbol and we don't want to overcomplicate
# the Dijkstra algorithm with string constants or -1 values
$self->_space->_infinity(10 * (max(map values %$_, values %{$self->_space->edges}) // 0));
if (0) {
require "Slic3r/SVG.pm";
Slic3r::SVG::output("space.svg",
no_arrows => 1,
expolygons => $self->islands,
lines => $self->_space->get_lines,
points => $self->_space->nodes,
);
printf "%d islands\n", scalar @{$self->islands};
eval "use Devel::Size";
print "MEMORY USAGE:\n";
printf " %-19s = %.1fMb\n", $_, Devel::Size::total_size($self->$_)/1024/1024
for qw(_space islands);
printf " %-19s = %.1fMb\n", $_, Devel::Size::total_size($self->_space->$_)/1024/1024
for qw(nodes edges);
printf " %-19s = %.1fMb\n", 'self', Devel::Size::total_size($self)/1024/1024;
exit if $self->internal;
}
}
sub shortest_path {
my $self = shift;
my ($from, $to) = @_;
return Slic3r::Polyline->new($from, $to)
if !@{$self->_space->nodes};
# create a temporary configuration space
my $space = $self->_space->clone;
# add from/to points to the temporary configuration space
my $node_from = $self->_add_point_to_space($from, $space);
my $node_to = $self->_add_point_to_space($to, $space);
# compute shortest path
my $path = $space->shortest_path($node_from, $node_to);
if (!$path->is_valid) {
Slic3r::debugf "Failed to compute shortest path.\n";
return Slic3r::Polyline->new($from, $to);
}
if (0) {
require "Slic3r/SVG.pm";
Slic3r::SVG::output("path.svg",
no_arrows => 1,
expolygons => $self->islands,
lines => $space->get_lines,
red_points => [$from, $to],
red_polylines => [$path],
);
exit;
}
return $path;
}
# returns the index of the new node
sub _add_point_to_space {
my ($self, $point, $space) = @_;
my $n = $space->add_nodes($point);
# check whether we are inside an island or outside
my $inside = defined first { $self->islands->[$_]->contains_point($point) } 0..$#{$self->islands};
# find candidates by checking visibility from $from to them
foreach my $idx (0..$#{$space->nodes}) {
my $line = Slic3r::Line->new($point, $space->nodes->[$idx]);
# if $point is inside an island, it is visible from $idx when island contains their line
# if $point is outside an island, it is visible from $idx when their line does not cross any island
if (
($inside && defined first { $_->contains_line($line) } @{$self->_inner})
|| (!$inside && !@{intersection_pl(
[ $line->as_polyline ],
[ map @$_, @{$self->islands} ],
)})
) {
# $n ($point) and $idx are visible
$space->add_edge($n, $idx, $line->length);
}
}
# if we found no visibility, retry with larger margins
if (!exists $space->edges->{$n} && $inside) {
foreach my $idx (0..$#{$space->nodes}) {
my $line = Slic3r::Line->new($point, $space->nodes->[$idx]);
if (defined first { $_->contains_line($line) } @{$self->islands}) {
# $n ($point) and $idx are visible
$space->add_edge($n, $idx, $line->length);
}
}
}
warn "Temporary node is not visible from any other node"
if !exists $space->edges->{$n};
return $n;
}
package Slic3r::GCode::MotionPlanner::ConfigurationSpace;
use Moo;
has 'nodes' => (is => 'rw', default => sub { [] }); # [ Point, ... ]
has 'edges' => (is => 'rw', default => sub { {} }); # node_idx => { node_idx => distance, ... }
has '_infinity' => (is => 'rw');
sub clone {
my $self = shift;
return (ref $self)->new(
nodes => [ map $_->clone, @{$self->nodes} ],
edges => { map { $_ => { %{$self->edges->{$_}} } } keys %{$self->edges} },
_infinity => $self->_infinity,
);
}
sub nodes_count {
my $self = shift;
return scalar(@{ $self->nodes });
}
sub add_nodes {
my ($self, @nodes) = @_;
my $offset = $self->nodes_count;
push @{ $self->nodes }, @nodes;
return $offset;
}
sub add_edge {
my ($self, $a, $b, $dist) = @_;
$self->edges->{$a}{$b} = $self->edges->{$b}{$a} = $dist;
}
sub shortest_path {
my ($self, $node_from, $node_to) = @_;
my $edges = $self->edges;
my (%dist, %visited, %prev);
$dist{$_} = $self->_infinity for keys %$edges;
$dist{$node_from} = 0;
my @queue = ($node_from);
while (@queue) {
my $u = -1;
{
# find node in @queue with smallest distance in %dist and has not been visited
my $d = -1;
foreach my $n (@queue) {
next if $visited{$n};
if ($u == -1 || $dist{$n} < $d) {
$u = $n;
$d = $dist{$n};
}
}
}
last if $u == $node_to;
# remove $u from @queue
@queue = grep $_ != $u, @queue;
$visited{$u} = 1;
# loop through neighbors of $u
foreach my $v (keys %{ $edges->{$u} }) {
my $alt = $dist{$u} + $edges->{$u}{$v};
if ($alt < $dist{$v}) {
$dist{$v} = $alt;
$prev{$v} = $u;
if (!$visited{$v}) {
push @queue, $v;
}
}
}
}
my @points = ();
{
my $u = $node_to;
while (exists $prev{$u}) {
unshift @points, $self->nodes->[$u];
$u = $prev{$u};
}
unshift @points, $self->nodes->[$node_from];
}
return Slic3r::Polyline->new(@points);
}
# for debugging purposes
sub get_lines {
my $self = shift;
my @lines = ();
my %lines = ();
for my $i (keys %{$self->edges}) {
for my $j (keys %{$self->edges->{$i}}) {
my $line_id = join '_', sort $i, $j;
next if $lines{$line_id};
$lines{$line_id} = 1;
push @lines, Slic3r::Line->new(map $self->nodes->[$_], $i, $j);
}
}
return [@lines];
}
1;
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