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Commit c1462ef4 authored by sumpfralle's avatar sumpfralle
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added some more documentation for the new push->follow algorithm 


git-svn-id: https://pycam.svn.sourceforge.net/svnroot/pycam/trunk@702 bbaffbd6-741e-11dd-a85d-61de82d9cad9
parent ea3b1274
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artwork/push_follow_strategy.svg 0 → 100644
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src/pycam/PathGenerators/Waterline.py
View file @ c1462ef4
...@@ -20,6 +20,9 @@ You should have received a copy of the GNU General Public License ...@@ -20,6 +20,9 @@ You should have received a copy of the GNU General Public License
along with PyCAM. If not, see <http://www.gnu.org/licenses/>. along with PyCAM. If not, see <http://www.gnu.org/licenses/>.
""" """
# take a look at the related blog posting describing this algorithm:
# http://fab.senselab.org/node/43
from pycam.Geometry.Point import Point, Vector from pycam.Geometry.Point import Point, Vector
from pycam.Geometry.Line import Line from pycam.Geometry.Line import Line
from pycam.Geometry.Plane import Plane from pycam.Geometry.Plane import Plane
...@@ -133,6 +136,7 @@ class WaterlineTriangles: ...@@ -133,6 +136,7 @@ class WaterlineTriangles:
continue continue
cp, dist = current_shifted.get_intersection(neighbour_shifted, infinite_lines=True) cp, dist = current_shifted.get_intersection(neighbour_shifted, infinite_lines=True)
cp2, dist2 = neighbour_shifted.get_intersection(current_shifted, infinite_lines=True) cp2, dist2 = neighbour_shifted.get_intersection(current_shifted, infinite_lines=True)
# TODO: add an arc (composed of lines) for a soft corner (not required, but nicer)
if dist < epsilon: if dist < epsilon:
self.shifted_lines[current] = None self.shifted_lines[current] = None
index -= 1 index -= 1
...@@ -256,9 +260,11 @@ class Waterline: ...@@ -256,9 +260,11 @@ class Waterline:
break break
# ignore triangles below the z level # ignore triangles below the z level
if triangle.maxz < z: if triangle.maxz < z:
# Case 1a
continue continue
# ignore triangles pointing upwards or downwards # ignore triangles pointing upwards or downwards
if triangle.normal.cross(self._up_vector).norm == 0: if triangle.normal.cross(self._up_vector).norm == 0:
# Case 1b
continue continue
edge_collisions = self.get_collision_waterline_of_triangle(triangle, z) edge_collisions = self.get_collision_waterline_of_triangle(triangle, z)
if not edge_collisions: if not edge_collisions:
...@@ -295,6 +301,7 @@ class Waterline: ...@@ -295,6 +301,7 @@ class Waterline:
if triangle.minz > z: if triangle.minz > z:
# the triangle is completely above z # the triangle is completely above z
# try all edges # try all edges
# Case (4)
proj_points = [] proj_points = []
for p in triangle.get_points(): for p in triangle.get_points():
proj_p = plane.get_point_projection(p) proj_p = plane.get_point_projection(p)
...@@ -327,6 +334,8 @@ class Waterline: ...@@ -327,6 +334,8 @@ class Waterline:
edge = Line(edge.p2, edge.p1) edge = Line(edge.p2, edge.p1)
outer_edges = [edge] outer_edges = [edge]
else: else:
# some parts of the triangle are above and some below the cutter level
# Cases (2a), (2b), (3a) and (3b)
points_above = [plane.get_point_projection(p) for p in triangle.get_points() if p.z > z] points_above = [plane.get_point_projection(p) for p in triangle.get_points() if p.z > z]
waterline = plane.intersect_triangle(triangle) waterline = plane.intersect_triangle(triangle)
if waterline is None: if waterline is None:
...@@ -344,13 +353,16 @@ class Waterline: ...@@ -344,13 +353,16 @@ class Waterline:
if (p != waterline.p1) and (p != waterline.p2)] if (p != waterline.p1) and (p != waterline.p2)]
potential_edges = [] potential_edges = []
if len(points_above) == 0: if len(points_above) == 0:
# part of case (2a)
outer_edges = [waterline] outer_edges = [waterline]
elif len(points_above) == 1: elif len(points_above) == 1:
other_point = points_above[0] other_point = points_above[0]
dot = other_point.sub(waterline.p1).cross(waterline.dir).dot(self._up_vector) dot = other_point.sub(waterline.p1).cross(waterline.dir).dot(self._up_vector)
if dot > 0: if dot > 0:
# Case (2b)
outer_edges = [waterline] outer_edges = [waterline]
elif dot < 0: elif dot < 0:
# Case (3b)
edges = [] edges = []
edges.append(Line(waterline.p1, other_point)) edges.append(Line(waterline.p1, other_point))
edges.append(Line(waterline.p2, other_point)) edges.append(Line(waterline.p2, other_point))
...@@ -362,6 +374,7 @@ class Waterline: ...@@ -362,6 +374,7 @@ class Waterline:
outer_edges.append(edge) outer_edges.append(edge)
else: else:
# the three points are on one line # the three points are on one line
# part of case (2a)
edges = [] edges = []
edges.append(waterline) edges.append(waterline)
edges.append(Line(waterline.p1, other_point)) edges.append(Line(waterline.p1, other_point))
...@@ -377,9 +390,11 @@ class Waterline: ...@@ -377,9 +390,11 @@ class Waterline:
other_point = points_above[0] other_point = points_above[0]
dot = other_point.sub(waterline.p1).cross(waterline.dir).dot(self._up_vector) dot = other_point.sub(waterline.p1).cross(waterline.dir).dot(self._up_vector)
if dot > 0: if dot > 0:
# Case (2b)
# the other two points are on the right side # the other two points are on the right side
outer_edges = [waterline] outer_edges = [waterline]
elif dot < 0: elif dot < 0:
# Case (3a)
edge = Line(points_above[0], points_above[1]) edge = Line(points_above[0], points_above[1])
if edge.dir.cross(triangle.normal).dot(self._up_vector) < 0: if edge.dir.cross(triangle.normal).dot(self._up_vector) < 0:
outer_edges = [Line(edge.p2, edge.p1)] outer_edges = [Line(edge.p2, edge.p1)]
...@@ -388,6 +403,8 @@ class Waterline: ...@@ -388,6 +403,8 @@ class Waterline:
else: else:
edges = [] edges = []
# pick the longest combination of two of these points # pick the longest combination of two of these points
# part of case (2a)
# TODO: maybe we should use the waterline instead? (otherweise the line could be too long and thus connections to the adjacent waterlines are not discovered? Test this with an appropriate test model.)
points = [waterline.p1, waterline.p2] + points_above points = [waterline.p1, waterline.p2] + points_above
for p1 in points: for p1 in points:
for p2 in points: for p2 in points:
...@@ -406,6 +423,7 @@ class Waterline: ...@@ -406,6 +423,7 @@ class Waterline:
continue continue
direction = direction.mul(self.get_max_length()) direction = direction.mul(self.get_max_length())
edge_dir = edge.p2.sub(edge.p1) edge_dir = edge.p2.sub(edge.p1)
# TODO: adapt the number of potential starting positions to the length of the line
for factor in (0.5, 0.0, 1.0, 0.25, 0.75): for factor in (0.5, 0.0, 1.0, 0.25, 0.75):
start = edge.p1.add(edge_dir.mul(factor)) start = edge.p1.add(edge_dir.mul(factor))
# We need to use the triangle collision algorithm here - because we # We need to use the triangle collision algorithm here - because we
......
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