OrcaSlicer-bambulab/src/libslic3r/SLA/Pad.cpp

#include <libslic3r/SLA/Pad.hpp>
#include <libslic3r/SLA/Common.hpp>
#include <libslic3r/SLA/SpatIndex.hpp>
#include <libslic3r/SLA/BoostAdapter.hpp>
#include <libslic3r/SLA/Contour3D.hpp>

#include "ConcaveHull.hpp"

#include "boost/log/trivial.hpp"
#include "ClipperUtils.hpp"
#include "Tesselate.hpp"
#include "MTUtils.hpp"

// For debugging:
// #include <fstream>
// #include <libnest2d/tools/benchmark.h>
#include "SVG.hpp"

#include "I18N.hpp"
#include <boost/log/trivial.hpp>

//! macro used to mark string used at localization,
//! return same string
#define L(s) Slic3r::I18N::translate(s)

namespace Slic3r { namespace sla {

namespace {

/// This function will return a triangulation of a sheet connecting an upper
/// and a lower plate given as input polygons. It will not triangulate the
/// plates themselves only the sheet. The caller has to specify the lower and
/// upper z levels in world coordinates as well as the offset difference
/// between the sheets. If the lower_z_mm is higher than upper_z_mm or the
/// offset difference is negative, the resulting triangle orientation will be
/// reversed.
///
/// IMPORTANT: This is not a universal triangulation algorithm. It assumes
/// that the lower and upper polygons are offsetted versions of the same
/// original polygon. In general, it assumes that one of the polygons is
/// completely inside the other. The offset difference is the reference
/// distance from the inner polygon's perimeter to the outer polygon's
/// perimeter. The real distance will be variable as the clipper offset has
/// different strategies (rounding, etc...). This algorithm should have
/// O(2n + 3m) complexity where n is the number of upper vertices and m is the
/// number of lower vertices.
Contour3D walls(
    const Polygon &lower,
    const Polygon &upper,
    double         lower_z_mm,
    double         upper_z_mm,
    double         offset_difference_mm,
    ThrowOnCancel  thr = [] {})
{
    Contour3D ret;

    if(upper.points.size() < 3 || lower.size() < 3) return ret;

    // The concept of the algorithm is relatively simple. It will try to find
    // the closest vertices from the upper and the lower polygon and use those
    // as starting points. Then it will create the triangles sequentially using
    // an edge from the upper polygon and a vertex from the lower or vice versa,
    // depending on the resulting triangle's quality.
    // The quality is measured by a scalar value. So far it looks like it is
    // enough to derive it from the slope of the triangle's two edges connecting
    // the upper and the lower part. A reference slope is calculated from the
    // height and the offset difference.

    // Offset in the index array for the ceiling
    const auto offs = upper.points.size();

    // Shorthand for the vertex arrays
    auto& upts = upper.points, &lpts = lower.points;
    auto& rpts = ret.points; auto& ind = ret.faces3;

    // If the Z levels are flipped, or the offset difference is negative, we
    // will interpret that as the triangles normals should be inverted.
    bool inverted = upper_z_mm < lower_z_mm || offset_difference_mm < 0;

    // Copy the points into the mesh, convert them from 2D to 3D
    rpts.reserve(upts.size() + lpts.size());
    ind.reserve(2 * upts.size() + 2 * lpts.size());
    for (auto &p : upts)
        rpts.emplace_back(unscaled(p.x()), unscaled(p.y()), upper_z_mm);
    for (auto &p : lpts)
        rpts.emplace_back(unscaled(p.x()), unscaled(p.y()), lower_z_mm);

    // Create pointing indices into vertex arrays. u-upper, l-lower
    size_t uidx = 0, lidx = offs, unextidx = 1, lnextidx = offs + 1;

    // Simple squared distance calculation.
    auto distfn = [](const Vec3d& p1, const Vec3d& p2) {
        auto p = p1 - p2; return p.transpose() * p;
    };

    // We need to find the closest point on lower polygon to the first point on
    // the upper polygon. These will be our starting points.
    double distmin = std::numeric_limits<double>::max();
    for(size_t l = lidx; l < rpts.size(); ++l) {
        thr();
        double d = distfn(rpts[l], rpts[uidx]);
        if(d < distmin) { lidx = l; distmin = d; }
    }

    // Set up lnextidx to be ahead of lidx in cyclic mode
    lnextidx = lidx + 1;
    if(lnextidx == rpts.size()) lnextidx = offs;

    // This will be the flip switch to toggle between upper and lower triangle
    // creation mode
    enum class Proceed {
        UPPER, // A segment from the upper polygon and one vertex from the lower
        LOWER  // A segment from the lower polygon and one vertex from the upper
    } proceed = Proceed::UPPER;

    // Flags to help evaluating loop termination.
    bool ustarted = false, lstarted = false;

    // The variables for the fitness values, one for the actual and one for the
    // previous.
    double current_fit = 0, prev_fit = 0;

    // Every triangle of the wall has two edges connecting the upper plate with
    // the lower plate. From the length of these two edges and the zdiff we
    // can calculate the momentary squared offset distance at a particular
    // position on the wall. The average of the differences from the reference
    // (squared) offset distance will give us the driving fitness value.
    const double offsdiff2 = std::pow(offset_difference_mm, 2);
    const double zdiff2 = std::pow(upper_z_mm - lower_z_mm, 2);

    // Mark the current vertex iterator positions. If the iterators return to
    // the same position, the loop can be terminated.
    size_t uendidx = uidx, lendidx = lidx;

    do { thr();  // check throw if canceled

        prev_fit = current_fit;

        switch(proceed) {   // proceed depending on the current state
        case Proceed::UPPER:
            if(!ustarted || uidx != uendidx) { // there are vertices remaining
                // Get the 3D vertices in order
                const Vec3d& p_up1 = rpts[uidx];
                const Vec3d& p_low = rpts[lidx];
                const Vec3d& p_up2 = rpts[unextidx];

                // Calculate fitness: the average of the two connecting edges
                double a = offsdiff2 - (distfn(p_up1, p_low) - zdiff2);
                double b = offsdiff2 - (distfn(p_up2, p_low) - zdiff2);
                current_fit = (std::abs(a) + std::abs(b)) / 2;

                if(current_fit > prev_fit) { // fit is worse than previously
                    proceed = Proceed::LOWER;
                } else {    // good to go, create the triangle
                    inverted
                        ? ind.emplace_back(int(unextidx), int(lidx), int(uidx))
                        : ind.emplace_back(int(uidx), int(lidx), int(unextidx));

                    // Increment the iterators, rotate if necessary
                    ++uidx; ++unextidx;
                    if(unextidx == offs) unextidx = 0;
                    if(uidx == offs) uidx = 0;

                    ustarted = true;    // mark the movement of the iterators
                    // so that the comparison to uendidx can be made correctly
                }
            } else proceed = Proceed::LOWER;

            break;
        case Proceed::LOWER:
            // Mode with lower segment, upper vertex. Same structure:
            if(!lstarted || lidx != lendidx) {
                const Vec3d& p_low1 = rpts[lidx];
                const Vec3d& p_low2 = rpts[lnextidx];
                const Vec3d& p_up   = rpts[uidx];

                double a = offsdiff2 - (distfn(p_up, p_low1) - zdiff2);
                double b = offsdiff2 - (distfn(p_up, p_low2) - zdiff2);
                current_fit = (std::abs(a) + std::abs(b)) / 2;

                if(current_fit > prev_fit) {
                    proceed = Proceed::UPPER;
                } else {
                    inverted
                        ? ind.emplace_back(int(uidx), int(lnextidx), int(lidx))
                        : ind.emplace_back(int(lidx), int(lnextidx), int(uidx));

                    ++lidx; ++lnextidx;
                    if(lnextidx == rpts.size()) lnextidx = offs;
                    if(lidx == rpts.size()) lidx = offs;

                    lstarted = true;
                }
            } else proceed = Proceed::UPPER;

            break;
        } // end of switch
    } while(!ustarted || !lstarted || uidx != uendidx || lidx != lendidx);

    return ret;
}

// Same as walls() but with identical higher and lower polygons.
Contour3D inline straight_walls(const Polygon &plate,
                                double         lo_z,
                                double         hi_z,
                                ThrowOnCancel  thr)
{
    return walls(plate, plate, lo_z, hi_z, .0 /*offset_diff*/, thr);
}

// Function to cut tiny connector cavities for a given polygon. The input poly
// will be offsetted by "padding" and small rectangle shaped cavities will be
// inserted along the perimeter in every "stride" distance. The stick rectangles
// will have a with about "stick_width". The input dimensions are in world
// measure, not the scaled clipper units.
void breakstick_holes(Points& pts,
                      double padding,
                      double stride,
                      double stick_width,
                      double penetration)
{
    if(stride <= EPSILON || stick_width <= EPSILON || padding <= EPSILON)
        return;

    // SVG svg("bridgestick_plate.svg");
    // svg.draw(poly);

    // The connector stick will be a small rectangle with dimensions
    // stick_width x (penetration + padding) to have some penetration
    // into the input polygon.

    Points out;
    out.reserve(2 * pts.size()); // output polygon points

    // stick bottom and right edge dimensions
    double sbottom = scaled(stick_width);
    double sright  = scaled(penetration + padding);

    // scaled stride distance
    double sstride = scaled(stride);
    double t       = 0;

    // process pairs of vertices as an edge, start with the last and
    // first point
    for (size_t i = pts.size() - 1, j = 0; j < pts.size(); i = j, ++j) {
        // Get vertices and the direction vectors
        const Point &a = pts[i], &b = pts[j];
        Vec2d        dir = b.cast<double>() - a.cast<double>();
        double       nrm = dir.norm();
        dir /= nrm;
        Vec2d dirp(-dir(Y), dir(X));

        // Insert start point
        out.emplace_back(a);

        // dodge the start point, do not make sticks on the joins
        while (t < sbottom) t += sbottom;
        double tend = nrm - sbottom;

        while (t < tend) { // insert the stick on the polygon perimeter

            // calculate the stick rectangle vertices and insert them
            // into the output.
            Point p1 = a + (t * dir).cast<coord_t>();
            Point p2 = p1 + (sright * dirp).cast<coord_t>();
            Point p3 = p2 + (sbottom * dir).cast<coord_t>();
            Point p4 = p3 + (sright * -dirp).cast<coord_t>();
            out.insert(out.end(), {p1, p2, p3, p4});

            // continue along the perimeter
            t += sstride;
        }

        t = t - nrm;

        // Insert edge endpoint
        out.emplace_back(b);
    }

    // move the new points
    out.shrink_to_fit();
    pts.swap(out);
}

template<class...Args>
ExPolygons breakstick_holes(const ExPolygons &input, Args...args)
{
    ExPolygons ret = input;
    for (ExPolygon &p : ret) {
        breakstick_holes(p.contour.points, args...);
        for (auto &h : p.holes) breakstick_holes(h.points, args...);
    }

    return ret;
}

static inline coord_t get_waffle_offset(const PadConfig &c)
{
    return scaled(c.brim_size_mm + c.wing_distance());
}

static inline double get_merge_distance(const PadConfig &c)
{
    return 2. * (1.8 * c.wall_thickness_mm) + c.max_merge_dist_mm;
}

// Part of the pad configuration that is used for 3D geometry generation
struct PadConfig3D {
    double thickness, height, wing_height, slope;

    explicit PadConfig3D(const PadConfig &cfg2d)
        : thickness{cfg2d.wall_thickness_mm}
        , height{cfg2d.full_height()}
        , wing_height{cfg2d.wall_height_mm}
        , slope{cfg2d.wall_slope}
    {}

    inline double bottom_offset() const
    {
        return (thickness + wing_height) / std::tan(slope);
    }
};

// Outer part of the skeleton is used to generate the waffled edges of the pad.
// Inner parts will not be waffled or offsetted. Inner parts are only used if
// pad is generated around the object and correspond to holes and inner polygons
// in the model blueprint.
struct PadSkeleton { ExPolygons inner, outer; };

PadSkeleton divide_blueprint(const ExPolygons &bp)
{
    ClipperLib::PolyTree ptree = union_pt(bp);

    PadSkeleton ret;
    ret.inner.reserve(size_t(ptree.Total()));
    ret.outer.reserve(size_t(ptree.Total()));

    for (ClipperLib::PolyTree::PolyNode *node : ptree.Childs) {
        ExPolygon poly(ClipperPath_to_Slic3rPolygon(node->Contour));
        for (ClipperLib::PolyTree::PolyNode *child : node->Childs) {
            poly.holes.emplace_back(
                ClipperPath_to_Slic3rPolygon(child->Contour));

            traverse_pt(child->Childs, &ret.inner);
        }

        ret.outer.emplace_back(poly);
    }
    
    return ret;
}

// A helper class for storing polygons and maintaining a spatial index of their
// bounding boxes.
class Intersector {
    BoxIndex       m_index;
    ExPolygons     m_polys;

public:

    // Add a new polygon to the index
    void add(const ExPolygon &ep)
    {
        m_polys.emplace_back(ep);
        m_index.insert(BoundingBox{ep}, unsigned(m_index.size()));
    }

    // Check an arbitrary polygon for intersection with the indexed polygons
    bool intersects(const ExPolygon &poly)
    {
        // Create a suitable query bounding box.
        auto bb = poly.contour.bounding_box();

        std::vector<BoxIndexEl> qres = m_index.query(bb, BoxIndex::qtIntersects);

        // Now check intersections on the actual polygons (not just the boxes)
        bool is_overlap = false;
        auto qit        = qres.begin();
        while (!is_overlap && qit != qres.end())
            is_overlap = is_overlap || poly.overlaps(m_polys[(qit++)->second]);

        return is_overlap;
    }
};

// This dummy intersector to implement the "force pad everywhere" feature
struct DummyIntersector
{
    inline void add(const ExPolygon &) {}
    inline bool intersects(const ExPolygon &) { return true; }
};

template<class _Intersector>
class _AroundPadSkeleton : public PadSkeleton
{
    // A spatial index used to be able to efficiently find intersections of
    // support polygons with the model polygons.
    _Intersector m_intersector;

public:
    _AroundPadSkeleton(const ExPolygons &support_blueprint,
                       const ExPolygons &model_blueprint,
                       const PadConfig & cfg,
                       ThrowOnCancel     thr)
    {
        // We need to merge the support and the model contours in a special
        // way in which the model contours have to be substracted from the
        // support contours. The pad has to have a hole in which the model can
        // fit perfectly (thus the substraction -- diff_ex). Also, the pad has
        // to be eliminated from areas where there is no need for a pad, due
        // to missing supports.

        add_supports_to_index(support_blueprint);

        auto model_bp_offs =
            offset_ex(model_blueprint,
                      scaled<float>(cfg.embed_object.object_gap_mm),
                      ClipperLib::jtMiter, 1);

        ExPolygons fullcvh =
            wafflized_concave_hull(support_blueprint, model_bp_offs, cfg, thr);

        auto model_bp_sticks =
            breakstick_holes(model_bp_offs, cfg.embed_object.object_gap_mm,
                             cfg.embed_object.stick_stride_mm,
                             cfg.embed_object.stick_width_mm,
                             cfg.embed_object.stick_penetration_mm);

        ExPolygons fullpad = diff_ex(fullcvh, model_bp_sticks);

        PadSkeleton divided = divide_blueprint(fullpad);
        
        remove_redundant_parts(divided.outer);
        remove_redundant_parts(divided.inner);

        outer = std::move(divided.outer);
        inner = std::move(divided.inner);
    }

private:

    // Add the support blueprint to the search index to be queried later
    void add_supports_to_index(const ExPolygons &supp_bp)
    {
        for (auto &ep : supp_bp) m_intersector.add(ep);
    }

    // Create the wafflized pad around all object in the scene. This pad doesnt
    // have any holes yet.
    ExPolygons wafflized_concave_hull(const ExPolygons &supp_bp,
                                       const ExPolygons &model_bp,
                                       const PadConfig  &cfg,
                                       ThrowOnCancel     thr)
    {
        auto allin = reserve_vector<ExPolygon>(supp_bp.size() + model_bp.size());

        for (auto &ep : supp_bp) allin.emplace_back(ep.contour);
        for (auto &ep : model_bp) allin.emplace_back(ep.contour);

        ConcaveHull cchull{allin, get_merge_distance(cfg), thr};
        return offset_waffle_style_ex(cchull, get_waffle_offset(cfg));
    }

    // To remove parts of the pad skeleton which do not host any supports
    void remove_redundant_parts(ExPolygons &parts)
    {
        auto endit = std::remove_if(parts.begin(), parts.end(),
                                    [this](const ExPolygon &p) {
                                        return !m_intersector.intersects(p);
                                    });

        parts.erase(endit, parts.end());
    }
};

using AroundPadSkeleton = _AroundPadSkeleton<Intersector>;
using BrimPadSkeleton   = _AroundPadSkeleton<DummyIntersector>;

class BelowPadSkeleton : public PadSkeleton
{
public:
    BelowPadSkeleton(const ExPolygons &support_blueprint,
                     const ExPolygons &model_blueprint,
                     const PadConfig & cfg,
                     ThrowOnCancel     thr)
    {
        outer.reserve(support_blueprint.size() + model_blueprint.size());

        for (auto &ep : support_blueprint) outer.emplace_back(ep.contour);
        for (auto &ep : model_blueprint) outer.emplace_back(ep.contour);

        ConcaveHull ochull{outer, get_merge_distance(cfg), thr};

        outer = offset_waffle_style_ex(ochull, get_waffle_offset(cfg));
    }
};

// Offset the contour only, leave the holes untouched
template<class...Args>
ExPolygon offset_contour_only(const ExPolygon &poly, coord_t delta, Args...args)
{
    ExPolygons tmp = offset_ex(poly.contour, float(delta), args...);

    if (tmp.empty()) return {};

    Polygons holes = poly.holes;
    for (auto &h : holes) h.reverse();

    tmp = diff_ex(to_polygons(tmp), holes);

    if (tmp.empty()) return {};

    return tmp.front();
}

bool add_cavity(Contour3D &pad, ExPolygon &top_poly, const PadConfig3D &cfg,
                ThrowOnCancel thr)
{
    auto logerr = []{BOOST_LOG_TRIVIAL(error)<<"Could not create pad cavity";};

    double    wing_distance = cfg.wing_height / std::tan(cfg.slope);
    coord_t   delta_inner   = -scaled(cfg.thickness + wing_distance);
    coord_t   delta_middle  = -scaled(cfg.thickness);
    ExPolygon inner_base    = offset_contour_only(top_poly, delta_inner);
    ExPolygon middle_base   = offset_contour_only(top_poly, delta_middle);

    if (inner_base.empty() || middle_base.empty()) { logerr(); return false; }

    ExPolygons pdiff = diff_ex(top_poly, middle_base.contour);

    if (pdiff.size() != 1) { logerr(); return false; }

    top_poly = pdiff.front();

    double z_min = -cfg.wing_height, z_max = 0;
    double offset_difference = -wing_distance;
    pad.merge(walls(inner_base.contour, middle_base.contour, z_min, z_max,
                    offset_difference, thr));

    pad.merge(triangulate_expolygon_3d(inner_base, z_min, NORMALS_UP));

    return true;
}

Contour3D create_outer_pad_geometry(const ExPolygons & skeleton,
                                    const PadConfig3D &cfg,
                                    ThrowOnCancel      thr)
{
    Contour3D ret;

    for (const ExPolygon &pad_part : skeleton) {
        ExPolygon top_poly{pad_part};
        ExPolygon bottom_poly =
            offset_contour_only(pad_part, -scaled(cfg.bottom_offset()));

        if (bottom_poly.empty()) continue;

        double z_min = -cfg.height, z_max = 0;
        ret.merge(walls(top_poly.contour, bottom_poly.contour, z_max, z_min,
                        cfg.bottom_offset(), thr));

        if (cfg.wing_height > 0. && add_cavity(ret, top_poly, cfg, thr))
            z_max = -cfg.wing_height;

        for (auto &h : bottom_poly.holes)
            ret.merge(straight_walls(h, z_max, z_min, thr));

        ret.merge(triangulate_expolygon_3d(bottom_poly, z_min, NORMALS_DOWN));
        ret.merge(triangulate_expolygon_3d(top_poly, NORMALS_UP));
    }

    return ret;
}

Contour3D create_inner_pad_geometry(const ExPolygons & skeleton,
                                    const PadConfig3D &cfg,
                                    ThrowOnCancel      thr)
{
    Contour3D ret;

    double z_max = 0., z_min = -cfg.height;
    for (const ExPolygon &pad_part : skeleton) {
        ret.merge(straight_walls(pad_part.contour, z_max, z_min,thr));

        for (auto &h : pad_part.holes)
            ret.merge(straight_walls(h, z_max, z_min, thr));

        ret.merge(triangulate_expolygon_3d(pad_part, z_min, NORMALS_DOWN));
        ret.merge(triangulate_expolygon_3d(pad_part, z_max, NORMALS_UP));
    }

    return ret;
}

Contour3D create_pad_geometry(const PadSkeleton &skelet,
                              const PadConfig &  cfg,
                              ThrowOnCancel      thr)
{
#ifndef NDEBUG
    SVG svg("pad_skeleton.svg");
    svg.draw(skelet.outer, "green");
    svg.draw(skelet.inner, "blue");
    svg.Close();
#endif

    PadConfig3D cfg3d(cfg);
    return create_outer_pad_geometry(skelet.outer, cfg3d, thr)
        .merge(create_inner_pad_geometry(skelet.inner, cfg3d, thr));
}

Contour3D create_pad_geometry(const ExPolygons &supp_bp,
                              const ExPolygons &model_bp,
                              const PadConfig & cfg,
                              ThrowOnCancel thr)
{
    PadSkeleton skelet;

    if (cfg.embed_object.enabled) {
        if (cfg.embed_object.everywhere)
            skelet = BrimPadSkeleton(supp_bp, model_bp, cfg, thr);
        else
            skelet = AroundPadSkeleton(supp_bp, model_bp, cfg, thr);
    } else
        skelet = BelowPadSkeleton(supp_bp, model_bp, cfg, thr);

    return create_pad_geometry(skelet, cfg, thr);
}

} // namespace

void pad_blueprint(const TriangleMesh &      mesh,
                   ExPolygons &              output,
                   const std::vector<float> &heights,
                   ThrowOnCancel             thrfn)
{
    if (mesh.empty()) return;
    TriangleMeshSlicer slicer(&mesh);

    auto out = reserve_vector<ExPolygons>(heights.size());
    slicer.slice(heights, SlicingMode::Regular, 0.f, &out, thrfn);

    size_t count = 0;
    for(auto& o : out) count += o.size();

    // Unification is expensive, a simplify also speeds up the pad generation
    auto tmp = reserve_vector<ExPolygon>(count);
    for(ExPolygons& o : out)
        for(ExPolygon& e : o) {
            auto&& exss = e.simplify(scaled<double>(0.1));
            for(ExPolygon& ep : exss) tmp.emplace_back(std::move(ep));
        }

    ExPolygons utmp = union_ex(tmp);

    for(auto& o : utmp) {
        auto&& smp = o.simplify(scaled<double>(0.1));
        output.insert(output.end(), smp.begin(), smp.end());
    }
}

void pad_blueprint(const TriangleMesh &mesh,
                   ExPolygons &        output,
                   float               h,
                   float               layerh,
                   ThrowOnCancel       thrfn)
{
    float gnd = float(mesh.bounding_box().min(Z));

    std::vector<float> slicegrid = grid(gnd, gnd + h, layerh);
    pad_blueprint(mesh, output, slicegrid, thrfn);
}

void create_pad(const ExPolygons &sup_blueprint,
                const ExPolygons &model_blueprint,
                TriangleMesh &    out,
                const PadConfig & cfg,
                ThrowOnCancel thr)
{
    Contour3D t = create_pad_geometry(sup_blueprint, model_blueprint, cfg, thr);
    out.merge(to_triangle_mesh(std::move(t)));
}

std::string PadConfig::validate() const
{
    static const double constexpr MIN_BRIM_SIZE_MM = .1;

    if (brim_size_mm < MIN_BRIM_SIZE_MM ||
        bottom_offset() > brim_size_mm + wing_distance() ||
        get_waffle_offset(*this) <= MIN_BRIM_SIZE_MM)
        return L("Pad brim size is too small for the current configuration.");

    return "";
}

}} // namespace Slic3r::sla