ClipperLib::PolyTree
_clipper_do(const ClipperLib::ClipType clipType, const Polylines &subject,
const Polygons &clip, const ClipperLib::PolyFillType fillType,
const bool safety_offset_)
{
// read input
ClipperLib::Paths input_subject = Slic3rMultiPoints_to_ClipperPaths(subject);
ClipperLib::Paths input_clip = Slic3rMultiPoints_to_ClipperPaths(clip);
// perform safety offset
if (safety_offset_) safety_offset(&input_clip);
// init Clipper
ClipperLib::Clipper clipper;
clipper.Clear();
// add polygons
clipper.AddPaths(input_subject, ClipperLib::ptSubject, false);
clipper.AddPaths(input_clip, ClipperLib::ptClip, true);
// perform operation
ClipperLib::PolyTree retval;
clipper.Execute(clipType, retval, fillType, fillType);
return retval;
}
void _clipper_do(const ClipperLib::ClipType clipType, const Slic3r::Polylines &subject,
const Slic3r::Polygons &clip, ClipperLib::PolyTree* retval, const ClipperLib::PolyFillType fillType,
const bool safety_offset_)
{
PROFILE_BLOCK(_clipper_do_polylines);
// read input
ClipperLib::Paths input_subject, input_clip;
Slic3rMultiPoints_to_ClipperPaths(subject, &input_subject);
Slic3rMultiPoints_to_ClipperPaths(clip, &input_clip);
// perform safety offset
if (safety_offset_) safety_offset(&input_clip);
// init Clipper
ClipperLib::Clipper clipper;
clipper.Clear();
// add polygons
{
PROFILE_BLOCK(_clipper_do_polylines_AddPaths);
clipper.AddPaths(input_subject, ClipperLib::ptSubject, false);
clipper.AddPaths(input_clip, ClipperLib::ptClip, true);
}
// perform operation
{
PROFILE_BLOCK(_clipper_do_polylines_Execute);
clipper.Execute(clipType, *retval, fillType, fillType);
}
}
void _clipper_do(const ClipperLib::ClipType clipType, const Slic3r::Polygons &subject,
const Slic3r::Polygons &clip, T &retval, const ClipperLib::PolyFillType fillType, const bool safety_offset_)
{
// read input
ClipperLib::Paths* input_subject = new ClipperLib::Paths();
ClipperLib::Paths* input_clip = new ClipperLib::Paths();
Slic3rMultiPoints_to_ClipperPaths(subject, *input_subject);
Slic3rMultiPoints_to_ClipperPaths(clip, *input_clip);
// perform safety offset
if (safety_offset_) {
if (clipType == ClipperLib::ctUnion) {
safety_offset(input_subject);
} else {
safety_offset(input_clip);
}
}
// init Clipper
ClipperLib::Clipper clipper;
clipper.Clear();
// add polygons
clipper.AddPaths(*input_subject, ClipperLib::ptSubject, true);
delete input_subject;
clipper.AddPaths(*input_clip, ClipperLib::ptClip, true);
delete input_clip;
// perform operation
clipper.Execute(clipType, retval, fillType, fillType);
}
// Fix of #117: A large fractal pyramid takes ages to slice
// The Clipper library has difficulties processing overlapping polygons.
// Namely, the function Clipper::JoinCommonEdges() has potentially a terrible time complexity if the output
// of the operation is of the PolyTree type.
// This function implmenets a following workaround:
// 1) Peform the Clipper operation with the output to Paths. This method handles overlaps in a reasonable time.
// 2) Run Clipper Union once again to extract the PolyTree from the result of 1).
inline ClipperLib::PolyTree _clipper_do_polytree2(const ClipperLib::ClipType clipType, const Polygons &subject,
const Polygons &clip, const ClipperLib::PolyFillType fillType, const bool safety_offset_)
{
// read input
ClipperLib::Paths input_subject = Slic3rMultiPoints_to_ClipperPaths(subject);
ClipperLib::Paths input_clip = Slic3rMultiPoints_to_ClipperPaths(clip);
// perform safety offset
if (safety_offset_)
safety_offset((clipType == ClipperLib::ctUnion) ? &input_subject : &input_clip);
ClipperLib::Clipper clipper;
clipper.AddPaths(input_subject, ClipperLib::ptSubject, true);
clipper.AddPaths(input_clip, ClipperLib::ptClip, true);
// Perform the operation with the output to input_subject.
// This pass does not generate a PolyTree, which is a very expensive operation with the current Clipper library
// if there are overapping edges.
clipper.Execute(clipType, input_subject, fillType, fillType);
// Perform an additional Union operation to generate the PolyTree ordering.
clipper.Clear();
clipper.AddPaths(input_subject, ClipperLib::ptSubject, true);
ClipperLib::PolyTree retval;
clipper.Execute(ClipperLib::ctUnion, retval, fillType, fillType);
return retval;
}
// This is a safe variant of the polygon offset, tailored for a single ExPolygon:
// a single polygon with multiple non-overlapping holes.
// Each contour and hole is offsetted separately, then the holes are subtracted from the outer contours.
ClipperLib::Paths _offset(const Slic3r::ExPolygon &expolygon, const float delta,
ClipperLib::JoinType joinType, double miterLimit)
{
// printf("new ExPolygon offset\n");
// 1) Offset the outer contour.
const float delta_scaled = delta * float(CLIPPER_OFFSET_SCALE);
ClipperLib::Paths contours;
{
ClipperLib::Path input = Slic3rMultiPoint_to_ClipperPath(expolygon.contour);
scaleClipperPolygon(input);
ClipperLib::ClipperOffset co;
if (joinType == jtRound)
co.ArcTolerance = miterLimit * double(CLIPPER_OFFSET_SCALE);
else
co.MiterLimit = miterLimit;
co.ShortestEdgeLength = double(std::abs(delta_scaled * CLIPPER_OFFSET_SHORTEST_EDGE_FACTOR));
co.AddPath(input, joinType, ClipperLib::etClosedPolygon);
co.Execute(contours, delta_scaled);
}
// 2) Offset the holes one by one, collect the results.
ClipperLib::Paths holes;
{
holes.reserve(expolygon.holes.size());
for (Polygons::const_iterator it_hole = expolygon.holes.begin(); it_hole != expolygon.holes.end(); ++ it_hole) {
ClipperLib::Path input = Slic3rMultiPoint_to_ClipperPath_reversed(*it_hole);
scaleClipperPolygon(input);
ClipperLib::ClipperOffset co;
if (joinType == jtRound)
co.ArcTolerance = miterLimit * double(CLIPPER_OFFSET_SCALE);
else
co.MiterLimit = miterLimit;
co.ShortestEdgeLength = double(std::abs(delta_scaled * CLIPPER_OFFSET_SHORTEST_EDGE_FACTOR));
co.AddPath(input, joinType, ClipperLib::etClosedPolygon);
ClipperLib::Paths out;
co.Execute(out, - delta_scaled);
holes.insert(holes.end(), out.begin(), out.end());
}
}
// 3) Subtract holes from the contours.
ClipperLib::Paths output;
if (holes.empty()) {
output = std::move(contours);
} else {
ClipperLib::Clipper clipper;
clipper.Clear();
clipper.AddPaths(contours, ClipperLib::ptSubject, true);
clipper.AddPaths(holes, ClipperLib::ptClip, true);
clipper.Execute(ClipperLib::ctDifference, output, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
}
// 4) Unscale the output.
unscaleClipperPolygons(output);
return output;
}
bool BooleanTool::executeForObjects(PathObject* subject, PathObjects& in_objects, PathObjects& out_objects)
{
// Convert the objects to Clipper polygons and
// create a hash map, mapping point positions to the PathCoords.
// These paths are to be regarded as closed.
PolyMap polymap;
ClipperLib::Paths subject_polygons;
pathObjectToPolygons(subject, subject_polygons, polymap);
ClipperLib::Paths clip_polygons;
for (PathObject* object : in_objects)
{
if (object != subject)
{
pathObjectToPolygons(object, clip_polygons, polymap);
}
}
// Do the operation.
ClipperLib::Clipper clipper;
clipper.AddPaths(subject_polygons, ClipperLib::ptSubject, true);
clipper.AddPaths(clip_polygons, ClipperLib::ptClip, true);
ClipperLib::ClipType clip_type;
ClipperLib::PolyFillType fill_type = ClipperLib::pftNonZero;
switch (op)
{
case Union: clip_type = ClipperLib::ctUnion;
break;
case Intersection: clip_type = ClipperLib::ctIntersection;
break;
case Difference: clip_type = ClipperLib::ctDifference;
break;
case XOr: clip_type = ClipperLib::ctXor;
break;
case MergeHoles: clip_type = ClipperLib::ctUnion;
fill_type = ClipperLib::pftPositive;
break;
default: Q_ASSERT(false && "Undefined operation");
return false;
}
ClipperLib::PolyTree solution;
bool success = clipper.Execute(clip_type, solution, fill_type, fill_type);
if (success)
{
// Try to convert the solution polygons to objects again
polyTreeToPathObjects(solution, out_objects, subject, polymap);
}
return success;
}
void simplify_polygons(const Slic3r::Polygons &subject, Slic3r::ExPolygons* retval, bool preserve_collinear)
{
PROFILE_FUNC();
if (!preserve_collinear) {
Polygons polygons;
simplify_polygons(subject, &polygons, preserve_collinear);
union_(polygons, retval);
return;
}
// convert into Clipper polygons
ClipperLib::Paths input_subject;
Slic3rMultiPoints_to_ClipperPaths(subject, &input_subject);
ClipperLib::PolyTree polytree;
ClipperLib::Clipper c;
c.PreserveCollinear(true);
c.StrictlySimple(true);
c.AddPaths(input_subject, ClipperLib::ptSubject, true);
c.Execute(ClipperLib::ctUnion, polytree, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
// convert into ExPolygons
PolyTreeToExPolygons(polytree, retval);
}
void _clipper_do(const ClipperLib::ClipType clipType, const Slic3r::Polygons &subject,
const Slic3r::Polygons &clip, T* retval, const ClipperLib::PolyFillType fillType, const bool safety_offset_)
{
PROFILE_BLOCK(_clipper_do_polygons);
// read input
ClipperLib::Paths input_subject, input_clip;
Slic3rMultiPoints_to_ClipperPaths(subject, &input_subject);
Slic3rMultiPoints_to_ClipperPaths(clip, &input_clip);
// perform safety offset
if (safety_offset_) {
if (clipType == ClipperLib::ctUnion) {
safety_offset(&input_subject);
} else {
safety_offset(&input_clip);
}
}
// init Clipper
ClipperLib::Clipper clipper;
clipper.Clear();
// add polygons
{
PROFILE_BLOCK(_clipper_do_polygons_AddPaths);
clipper.AddPaths(input_subject, ClipperLib::ptSubject, true);
clipper.AddPaths(input_clip, ClipperLib::ptClip, true);
#ifdef CLIPPER_UTILS_DEBUG
if (clipper_export_enabled) {
static int iRun = 0;
export_clipper_input_polygons_bin(debug_out_path("_clipper_do_polygons_AddPaths-polygons-%d", ++iRun).c_str(), input_subject, input_clip);
}
#endif /* CLIPPER_UTILS_DEBUG */
}
// perform operation
{
PROFILE_BLOCK(_clipper_do_polygons_Execute);
clipper.Execute(clipType, *retval, fillType, fillType);
}
}
void _clipper_do(const ClipperLib::ClipType clipType, const Slic3r::Polylines &subject,
const Slic3r::Polygons &clip, ClipperLib::PolyTree &retval, const ClipperLib::PolyFillType fillType)
{
// read input
ClipperLib::Paths* input_subject = new ClipperLib::Paths();
ClipperLib::Paths* input_clip = new ClipperLib::Paths();
Slic3rMultiPoints_to_ClipperPaths(subject, *input_subject);
Slic3rMultiPoints_to_ClipperPaths(clip, *input_clip);
// init Clipper
ClipperLib::Clipper clipper;
clipper.Clear();
// add polygons
clipper.AddPaths(*input_subject, ClipperLib::ptSubject, false);
delete input_subject;
clipper.AddPaths(*input_clip, ClipperLib::ptClip, true);
delete input_clip;
// perform operation
clipper.Execute(clipType, retval, fillType, fillType);
}
ExPolygons
ClipperPaths_to_Slic3rExPolygons(const ClipperLib::Paths &input)
{
// init Clipper
ClipperLib::Clipper clipper;
clipper.Clear();
// perform union
clipper.AddPaths(input, ClipperLib::ptSubject, true);
ClipperLib::PolyTree polytree;
clipper.Execute(ClipperLib::ctUnion, polytree, ClipperLib::pftEvenOdd, ClipperLib::pftEvenOdd); // offset results work with both EvenOdd and NonZero
// write to ExPolygons object
return PolyTreeToExPolygons(polytree);
}
Polygons top_level_islands(const Slic3r::Polygons &polygons)
{
// init Clipper
ClipperLib::Clipper clipper;
clipper.Clear();
// perform union
clipper.AddPaths(Slic3rMultiPoints_to_ClipperPaths(polygons), ClipperLib::ptSubject, true);
ClipperLib::PolyTree polytree;
clipper.Execute(ClipperLib::ctUnion, polytree, ClipperLib::pftEvenOdd, ClipperLib::pftEvenOdd);
// Convert only the top level islands to the output.
Polygons out;
out.reserve(polytree.ChildCount());
for (int i = 0; i < polytree.ChildCount(); ++i)
out.emplace_back(ClipperPath_to_Slic3rPolygon(polytree.Childs[i]->Contour));
return out;
}
void
ClipperPaths_to_Slic3rExPolygons(const ClipperLib::Paths &input, Slic3r::ExPolygons &output)
{
// init Clipper
ClipperLib::Clipper clipper;
clipper.Clear();
// perform union
clipper.AddPaths(input, ClipperLib::ptSubject, true);
ClipperLib::PolyTree* polytree = new ClipperLib::PolyTree();
clipper.Execute(ClipperLib::ctUnion, *polytree, ClipperLib::pftEvenOdd, ClipperLib::pftEvenOdd); // offset results work with both EvenOdd and NonZero
// write to ExPolygons object
output.clear();
PolyTreeToExPolygons(*polytree, output);
delete polytree;
}
void simplify_polygons(const Slic3r::Polygons &subject, Slic3r::Polygons* retval, bool preserve_collinear)
{
// convert into Clipper polygons
ClipperLib::Paths input_subject, output;
Slic3rMultiPoints_to_ClipperPaths(subject, &input_subject);
if (preserve_collinear) {
ClipperLib::Clipper c;
c.PreserveCollinear(true);
c.StrictlySimple(true);
c.AddPaths(input_subject, ClipperLib::ptSubject, true);
c.Execute(ClipperLib::ctUnion, output, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
} else {
ClipperLib::SimplifyPolygons(input_subject, output, ClipperLib::pftNonZero);
}
// convert into Slic3r polygons
ClipperPaths_to_Slic3rMultiPoints(output, retval);
}
ExPolygons simplify_polygons_ex(const Polygons &subject, bool preserve_collinear)
{
if (! preserve_collinear)
return union_ex(simplify_polygons(subject, false));
// convert into Clipper polygons
ClipperLib::Paths input_subject = Slic3rMultiPoints_to_ClipperPaths(subject);
ClipperLib::PolyTree polytree;
ClipperLib::Clipper c;
c.PreserveCollinear(true);
c.StrictlySimple(true);
c.AddPaths(input_subject, ClipperLib::ptSubject, true);
c.Execute(ClipperLib::ctUnion, polytree, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
// convert into ExPolygons
return PolyTreeToExPolygons(polytree);
}
double poly_intersection(const ContContainer& poly1, const ContContainer& poly2)
{
/* ************* TEMPORAL ************
* Conversion, we should remove junctions from container
* or define it for our containers */
ClipperLib::Paths paths1(poly1.begin(),poly1.end());
ClipperLib::Paths paths2(poly2.begin(),poly2.end());
/* Get the intersection polygon */
ClipperLib::Clipper clpr;
clpr.AddPaths(paths1, ClipperLib::ptSubject, true);
clpr.AddPaths(paths2, ClipperLib::ptClip , true);
ClipperLib::Paths solution;
clpr.Execute(ClipperLib::ctIntersection, solution, ClipperLib::pftEvenOdd, ClipperLib::pftEvenOdd);
/* Get its area */
double int_area = 0;
for(std::size_t ii=0; ii<solution.size(); ++ii)
int_area += std::abs(ClipperLib::Area(solution[ii]));
return int_area;
}
void World::update(cv::Mat &homography)
{
this->m_world->Step(dt, 10, 10);
//check contacts
std::vector<MyContact>::iterator pos;
std::map<b2Body*, ClipperLib::Paths*> newBodyMap;
std::vector<b2Body*> removeBarrierList;
for(pos = this->m_contactListener->m_contacts.begin();
pos != this->m_contactListener->m_contacts.end();
++pos)
{
MyContact contact = *pos;
if ((contact.fixtureA == this->m_ballFixture || contact.fixtureB == this->m_ballFixture)
&& (contact.fixtureA->GetBody() != m_groundBody && contact.fixtureB->GetBody() != m_groundBody)
&& (contact.fixtureA->GetBody() != m_paddlesBody && contact.fixtureB->GetBody() != m_paddlesBody))
{
b2Fixture* objectFixture = contact.fixtureA == this->m_ballFixture ? contact.fixtureB : contact.fixtureA;
b2Body *objectBody = objectFixture->GetBody();
if (objectFixture->GetType() == b2Shape::e_edge)
{
cv::Point2f hitPoint = CVUtils::transformPoint(cv::Point2f(contact.contactPoint->x * PTM_RATIO, contact.contactPoint->y * PTM_RATIO), homography);
this->notifyBallHitObservers(hitPoint.x, hitPoint.y);
// change the shape of the fixture
// only go into processing if this body was not processed yet (possible ball hit two fixture of same body)
if (newBodyMap.find(objectBody) == newBodyMap.end())
{
ClipperLib::Paths* bodyPolygons = (ClipperLib::Paths*)objectBody->GetUserData();
b2Vec2* impactVelocity = contact.fixtureA == m_ballFixture ? contact.impactVelocityA : contact.impactVelocityB;
float ballAngle = atan2(impactVelocity->y, impactVelocity->x); // get the angle (in radians) the ball is moving to
float ballPower = impactVelocity->Length() * 0.5; // get the "power" of the ball movement vector
float openingStepInRadians = 10 * CV_PI / 180; // calculate the opening in radians
// create the clipping object/shape - a wedge from ball's center with 30 degree opening over ball direction (angle)
ClipperLib::Path clip;
clip.push_back(ClipperLib::IntPoint(contact.contactPoint->x * PTM_RATIO, contact.contactPoint->y * PTM_RATIO));
for(int step = 9; step > -10; step--)
{
float dx = cos(ballAngle + step * openingStepInRadians) * ballPower;
float dy = sin(ballAngle + step * openingStepInRadians) * ballPower;
clip.push_back(ClipperLib::IntPoint(contact.contactPoint->x * PTM_RATIO + dx, contact.contactPoint->y * PTM_RATIO + dy));
}
ClipperLib::Clipper clipper;
clipper.AddPaths((*bodyPolygons), ClipperLib::ptSubject, true);
clipper.AddPath(clip, ClipperLib::ptClip, true);
// the difference is the new polygon formed by the clipping (collision)
ClipperLib::Paths* newPolygons = new ClipperLib::Paths();
clipper.Execute(ClipperLib::ctDifference, (*newPolygons), ClipperLib::pftEvenOdd, ClipperLib::pftEvenOdd);
// Save the new polygons of this body
objectBody->SetUserData(newPolygons);
newBodyMap[objectBody] = newPolygons;
// now, find the intersection regions - these should be inpainted to the scene
ClipperLib::Paths destroyedParts;
clipper.Execute(ClipperLib::ctIntersection, destroyedParts, ClipperLib::pftEvenOdd, ClipperLib::pftEvenOdd);
// paint the required areas to be coppied
for (size_t i = 0; i < destroyedParts.size(); i++)
{
cv::Point* points = new cv::Point[destroyedParts[i].size()];
for (size_t j = 0; j < destroyedParts[i].size(); j++)
{
points[j].x = (int)destroyedParts[i][j].X;
points[j].y = (int)destroyedParts[i][j].Y;
}
m_destroyedPolygons.push_back(points);
m_destroyedPolygonsPointCount.push_back((int)destroyedParts[i].size());
}
}
}
else if (objectFixture->GetType() == b2Shape::e_circle)
{
// this is a barrier - add it to the remove list
removeBarrierList.push_back(objectBody);
}
}
}
std::map<b2Body*, ClipperLib::Paths*>::iterator iter;
for(iter = newBodyMap.begin(); iter != newBodyMap.end(); iter++)
{
b2Body* objectBody = iter->first;
ClipperLib::Paths* newPolygons = iter->second;
// remove all the current fixtures from this body
for (b2Fixture* f = objectBody->GetFixtureList(); f; )
{
b2Fixture* fixtureToDestroy = f;
f = f->GetNext();
objectBody->DestroyFixture( fixtureToDestroy );
}
if(newPolygons->size() == 0)
{
// there is no more pieces of the object left so remove it from list and world
m_objectBodies.erase(std::find(m_objectBodies.begin(), m_objectBodies.end(), objectBody));
m_world->DestroyBody(objectBody); // TODO: better physics world cleanup
}
else
{
for (size_t i = 0; i < newPolygons->size(); i++)
{
b2EdgeShape objectEdgeShape;
b2FixtureDef objectShapeDef;
objectShapeDef.shape = &objectEdgeShape;
ClipperLib::Path polygon = newPolygons->at(i);
size_t j;
for (j = 0; j < polygon.size() - 1; j++)
{
objectEdgeShape.Set(b2Vec2(polygon[j].X / PTM_RATIO, polygon[j].Y / PTM_RATIO), b2Vec2(polygon[j+1].X / PTM_RATIO, polygon[j+1].Y / PTM_RATIO));
objectBody->CreateFixture(&objectShapeDef);
}
objectEdgeShape.Set(b2Vec2(polygon[j].X / PTM_RATIO, polygon[j].Y / PTM_RATIO), b2Vec2(polygon[0].X / PTM_RATIO, polygon[0].Y / PTM_RATIO));
objectBody->CreateFixture(&objectShapeDef);
}
}
}
for (size_t i = 0; i < removeBarrierList.size(); i++){
cv::Point2f* p = (cv::Point2f*)removeBarrierList[i]->GetUserData();
std::vector<cv::Point2f*>::iterator position = std::find(m_guardLocations.begin(), m_guardLocations.end(), p);
if (position != m_guardLocations.end()){ // == vector.end() means the element was not found
m_guardLocations.erase(position);
}
removeBarrierList[i]->GetWorld()->DestroyBody(removeBarrierList[i]);
}
}
// This is a safe variant of the polygons offset, tailored for multiple ExPolygons.
// It is required, that the input expolygons do not overlap and that the holes of each ExPolygon don't intersect with their respective outer contours.
// Each ExPolygon is offsetted separately, then the offsetted ExPolygons are united.
ClipperLib::Paths _offset(const Slic3r::ExPolygons &expolygons, const float delta,
ClipperLib::JoinType joinType, double miterLimit)
{
const float delta_scaled = delta * float(CLIPPER_OFFSET_SCALE);
// Offsetted ExPolygons before they are united.
ClipperLib::Paths contours_cummulative;
contours_cummulative.reserve(expolygons.size());
// How many non-empty offsetted expolygons were actually collected into contours_cummulative?
// If only one, then there is no need to do a final union.
size_t expolygons_collected = 0;
for (Slic3r::ExPolygons::const_iterator it_expoly = expolygons.begin(); it_expoly != expolygons.end(); ++ it_expoly) {
// 1) Offset the outer contour.
ClipperLib::Paths contours;
{
ClipperLib::Path input = Slic3rMultiPoint_to_ClipperPath(it_expoly->contour);
scaleClipperPolygon(input);
ClipperLib::ClipperOffset co;
if (joinType == jtRound)
co.ArcTolerance = miterLimit * double(CLIPPER_OFFSET_SCALE);
else
co.MiterLimit = miterLimit;
co.ShortestEdgeLength = double(std::abs(delta_scaled * CLIPPER_OFFSET_SHORTEST_EDGE_FACTOR));
co.AddPath(input, joinType, ClipperLib::etClosedPolygon);
co.Execute(contours, delta_scaled);
}
if (contours.empty())
// No need to try to offset the holes.
continue;
if (it_expoly->holes.empty()) {
// No need to subtract holes from the offsetted expolygon, we are done.
contours_cummulative.insert(contours_cummulative.end(), contours.begin(), contours.end());
++ expolygons_collected;
} else {
// 2) Offset the holes one by one, collect the offsetted holes.
ClipperLib::Paths holes;
{
for (Polygons::const_iterator it_hole = it_expoly->holes.begin(); it_hole != it_expoly->holes.end(); ++ it_hole) {
ClipperLib::Path input = Slic3rMultiPoint_to_ClipperPath_reversed(*it_hole);
scaleClipperPolygon(input);
ClipperLib::ClipperOffset co;
if (joinType == jtRound)
co.ArcTolerance = miterLimit * double(CLIPPER_OFFSET_SCALE);
else
co.MiterLimit = miterLimit;
co.ShortestEdgeLength = double(std::abs(delta_scaled * CLIPPER_OFFSET_SHORTEST_EDGE_FACTOR));
co.AddPath(input, joinType, ClipperLib::etClosedPolygon);
ClipperLib::Paths out;
co.Execute(out, - delta_scaled);
holes.insert(holes.end(), out.begin(), out.end());
}
}
// 3) Subtract holes from the contours.
if (holes.empty()) {
// No hole remaining after an offset. Just copy the outer contour.
contours_cummulative.insert(contours_cummulative.end(), contours.begin(), contours.end());
++ expolygons_collected;
} else if (delta < 0) {
// Negative offset. There is a chance, that the offsetted hole intersects the outer contour.
// Subtract the offsetted holes from the offsetted contours.
ClipperLib::Clipper clipper;
clipper.Clear();
clipper.AddPaths(contours, ClipperLib::ptSubject, true);
clipper.AddPaths(holes, ClipperLib::ptClip, true);
ClipperLib::Paths output;
clipper.Execute(ClipperLib::ctDifference, output, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
if (! output.empty()) {
contours_cummulative.insert(contours_cummulative.end(), output.begin(), output.end());
++ expolygons_collected;
} else {
// The offsetted holes have eaten up the offsetted outer contour.
}
} else {
// Positive offset. As long as the Clipper offset does what one expects it to do, the offsetted hole will have a smaller
// area than the original hole or even disappear, therefore there will be no new intersections.
// Just collect the reversed holes.
contours_cummulative.reserve(contours.size() + holes.size());
contours_cummulative.insert(contours_cummulative.end(), contours.begin(), contours.end());
// Reverse the holes in place.
for (size_t i = 0; i < holes.size(); ++ i)
std::reverse(holes[i].begin(), holes[i].end());
contours_cummulative.insert(contours_cummulative.end(), holes.begin(), holes.end());
++ expolygons_collected;
}
}
}
// 4) Unite the offsetted expolygons.
ClipperLib::Paths output;
if (expolygons_collected > 1 && delta > 0) {
// There is a chance that the outwards offsetted expolygons may intersect. Perform a union.
ClipperLib::Clipper clipper;
clipper.Clear();
clipper.AddPaths(contours_cummulative, ClipperLib::ptSubject, true);
clipper.Execute(ClipperLib::ctUnion, output, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
} else {
// Negative offset. The shrunk expolygons shall not mutually intersect. Just copy the output.
output = std::move(contours_cummulative);
}
// 4) Unscale the output.
unscaleClipperPolygons(output);
return output;
}
int Grasp_Calculator::calcMeshGraspPosition(moveit_msgs::CollisionObject co, std::vector<geometry_msgs::PoseStamped> &poses,
std::vector<geometry_msgs::PoseStamped> &pre_poses,
double gripper_depth)
{
ros::Time t = ros::Time::now();
string gripper_group = gripper_depth == Gripper::R_GRIPPER_PALM_LENGTH ?
Gripper::get_r_group_name() : Gripper::get_l_group_name();
std::vector<geometry_msgs::Point> c;
suturo_manipulation::Mesh meshi(co);
// 2. search for cluster with opposite normal - O(|Cluster|²)
std::vector< std::pair<uint, uint> > opposite_cluster = meshi.get_opposite_cluster();
int h = 0;
ROS_INFO_STREAM("opposite cluster size: " << opposite_cluster.size());
for (int i = 0; i < opposite_cluster.size(); i++)
{
// 3. project both cluster on a plain - o(|vertices|)?
suturo_manipulation::Plane plane = meshi.get_plane(opposite_cluster[i].first, opposite_cluster[i].second);
plane.orthonormalize();
std::vector<geometry_msgs::Point> p1 = meshi.get_polygon(opposite_cluster[i].first);
std::vector<geometry_msgs::Point> p2 = meshi.get_polygon(opposite_cluster[i].second);
if (i == 0)
{
pi_->publishMarkerLine(co.id, p1, 0);
pi_->publishMarkerLine(co.id, p2, 1000);
}
DPolygon2D dpolygon1 = project_polygon_to_plane(plane, p1);
DPolygon2D dpolygon2 = project_polygon_to_plane(plane, p2);
ClipperLib::Paths polygon1(1);
ClipperLib::Paths polygon2(1);
double_polygon_to_path(dpolygon1, polygon1);
double_polygon_to_path(dpolygon2, polygon2);
// 4. calc polygon intersection - O(|vertices|²)?
// http://www.integis.ch/documents/ISem_Opprecht_Overlay_2002-02-28.pdf
// http://www.cs.man.ac.uk/~toby/alan/software/gpc.html
ClipperLib::Clipper clpr;
clpr.AddPaths(polygon1, ClipperLib::ptSubject, true);
clpr.AddPaths(polygon2, ClipperLib::ptClip, true);
ClipperLib::Paths solution;
clpr.Execute(ClipperLib::ctIntersection, solution, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
// 5. calc centriod - O(|vertices|)
Path int_centroids = calc_poly_centroid(solution);
DPolygon2D double_centroids;
path_to_double_polygon(double_centroids, int_centroids);
std::vector<geometry_msgs::Point> centroids = d2d_points_to_d3d_points(plane, double_centroids);
for (std::vector<geometry_msgs::Point>::iterator i = centroids.begin(); i != centroids.end(); ++i)
{
c.push_back(*i);
}
//ggf 5.2 check dist to cluster
// http://www.uninformativ.de/bin/RaytracingSchnitttests-76a577a-CC-BY.pdf
// 6. add grasppose pointing towards centriod with differen angles - const
for (std::vector<geometry_msgs::Point>::iterator i = centroids.begin(); i != centroids.end(); ++i)
{
for (double a = 0; a < 2 * M_PI; a += (M_PI / 2))
{
geometry_msgs::PoseStamped temp_grasp_pose;
geometry_msgs::PoseStamped temp_pre_grasp_pose;
temp_grasp_pose.header.frame_id = co.id;
temp_pre_grasp_pose.header.frame_id = co.id;
if (!get_grasp_point(plane, *i, gripper_depth , a, temp_grasp_pose, temp_pre_grasp_pose, meshi))
continue;
// h++;
// 7. use moveit to test poses - O(much)???
// if (!pi_->check_group_object_collision(gripper_group, temp_grasp_pose, co))
// {
// ROS_INFO_STREAM("collision!" );
// ros::WallDuration(0.5).sleep();
// ROS_WARN_STREAM("centroid " << *i);
poses.push_back(temp_grasp_pose);
pre_poses.push_back(temp_pre_grasp_pose);
// }
}
}
}
pi_->publishMarkerPoints(co.id, c);
if (poses.empty())
{
ROS_WARN_STREAM("No Grasppositions found for: " << co.id);
return 0;
}
//sort
geometry_msgs::PointStamped p;
if (!get_point_above_object(co.id, p)) return 0;
std::sort(poses.begin(), poses.end(), boost::bind(sort_base_link_mesh_poses, _1, _2, p));
std::sort(pre_poses.begin(), pre_poses.end(), boost::bind(sort_base_link_mesh_poses, _1, _2, p));
ROS_INFO_STREAM("poses:" << poses.size());
for (int i = 0; i < poses.size() ; ++i)
{
pi_->publishMarker(poses[i], i);
pi_->publishMarker(pre_poses[i], i + poses.size());
}
ROS_INFO_STREAM((ros::Time::now() - t));
return 1;
}
// This is a safe variant of the polygon offset, tailored for a single ExPolygon:
// a single polygon with multiple non-overlapping holes.
// Each contour and hole is offsetted separately, then the holes are subtracted from the outer contours.
void offset(const Slic3r::ExPolygons &expolygons, ClipperLib::Paths* retval, const float delta,
ClipperLib::JoinType joinType, double miterLimit)
{
// printf("new ExPolygon offset\n");
const float delta_scaled = delta * float(CLIPPER_OFFSET_SCALE);
ClipperLib::Paths contours;
ClipperLib::Paths holes;
contours.reserve(expolygons.size());
{
size_t n_holes = 0;
for (size_t i = 0; i < expolygons.size(); ++ i)
n_holes += expolygons[i].holes.size();
holes.reserve(n_holes);
}
for (Slic3r::ExPolygons::const_iterator it_expoly = expolygons.begin(); it_expoly != expolygons.end(); ++ it_expoly) {
// 1) Offset the outer contour.
{
ClipperLib::Path input;
Slic3rMultiPoint_to_ClipperPath(it_expoly->contour, &input);
scaleClipperPolygon(input);
ClipperLib::ClipperOffset co;
if (joinType == jtRound)
co.ArcTolerance = miterLimit * double(CLIPPER_OFFSET_SCALE);
else
co.MiterLimit = miterLimit;
co.AddPath(input, joinType, ClipperLib::etClosedPolygon);
ClipperLib::Paths out;
co.Execute(out, delta_scaled);
contours.insert(contours.end(), out.begin(), out.end());
}
// 2) Offset the holes one by one, collect the results.
{
for (Polygons::const_iterator it_hole = it_expoly->holes.begin(); it_hole != it_expoly->holes.end(); ++ it_hole) {
ClipperLib::Path input;
Slic3rMultiPoint_to_ClipperPath_reversed(*it_hole, &input);
scaleClipperPolygon(input);
ClipperLib::ClipperOffset co;
if (joinType == jtRound)
co.ArcTolerance = miterLimit * double(CLIPPER_OFFSET_SCALE);
else
co.MiterLimit = miterLimit;
co.AddPath(input, joinType, ClipperLib::etClosedPolygon);
ClipperLib::Paths out;
co.Execute(out, - delta_scaled);
holes.insert(holes.end(), out.begin(), out.end());
}
}
}
// 3) Subtract holes from the contours.
ClipperLib::Paths output;
{
ClipperLib::Clipper clipper;
clipper.Clear();
clipper.AddPaths(contours, ClipperLib::ptSubject, true);
clipper.AddPaths(holes, ClipperLib::ptClip, true);
clipper.Execute(ClipperLib::ctDifference, *retval, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
}
// 4) Unscale the output.
unscaleClipperPolygons(*retval);
}
BOOL GamePhysicsWorld::ClipperPolygonByShape(
GameSprite* ptr_gamesprite,
const std::string &shape_name,
float float_position_x,
float float_position_y
)
{
int num_result = FALSE;
int num_ret_code = FALSE;
b2Body* ptr_b2body_old = NULL;
b2Fixture* ptr_b2fixture = NULL;
b2Body* ptr_b2body_new = NULL;
b2BodyDef bodyDef;
b2Concave b2concave;
ClipperLib::Paths clipper_paths_clipper(1);
float float_offset_x = 0.0f;
float float_offset_y = 0.0f;
KGLOG_PROCESS_ERROR(ptr_gamesprite);
ptr_b2body_old = ptr_gamesprite->GetB2Body();
KGLOG_PROCESS_ERROR(ptr_b2body_old);
bodyDef.position = ptr_b2body_old->GetPosition();
float_offset_x = float_position_x - bodyDef.position.x * PTM_RATIO;
float_offset_y = float_position_y - bodyDef.position.y * PTM_RATIO;
bodyDef.type = ptr_b2body_old->GetType();
bodyDef.userData = ptr_b2body_old->GetUserData();
ptr_b2body_new = m_ptr_b2world->CreateBody(&bodyDef);
ptr_b2fixture = ptr_b2body_old->GetFixtureList();
KGLOG_PROCESS_ERROR(ptr_b2fixture);
num_ret_code = getPolygonFromCache(shape_name, &clipper_paths_clipper, float_offset_x, float_offset_y);
KGLOG_PROCESS_ERROR(num_ret_code);
while (ptr_b2fixture)
{
ClipperLib::Paths clipper_paths_main(1);
ClipperLib::Paths clipper_paths_result;
ClipperLib::Clipper clipper;
num_ret_code = getPolygonFormBody(ptr_b2fixture, &clipper_paths_main);
KGLOG_PROCESS_ERROR(num_ret_code);
num_ret_code = clipper.AddPaths(clipper_paths_main, ptSubject, true);
KGLOG_PROCESS_ERROR(num_ret_code);
num_ret_code = clipper.AddPaths(clipper_paths_clipper, ptClip, true);
KGLOG_PROCESS_ERROR(num_ret_code);
num_ret_code = clipper.Execute(ClipperLib::ctDifference, clipper_paths_result, pftNonZero, pftNonZero);
KGLOG_PROCESS_ERROR(num_ret_code);
Paths::iterator it_group = clipper_paths_result.begin();
for(NULL; it_group != clipper_paths_result.end(); ++it_group)
{
Path::iterator it = it_group->begin();
b2Vec2 vec_vertices[1000];
int count_vertices = 0;
b2FixtureDef b2fixturedef_new;
b2fixturedef_new.restitution = ptr_b2fixture->GetRestitution();
b2fixturedef_new.friction = ptr_b2fixture->GetFriction();
b2fixturedef_new.density = ptr_b2fixture->GetDensity();
for(NULL; it != it_group->end(); ++it)
{
vec_vertices[count_vertices++].Set(float(it->X) / (PTM_RATIO * CLIPPER_RATIO), float(it->Y) / (PTM_RATIO * CLIPPER_RATIO));
}
num_ret_code = b2concave.Create(ptr_b2body_new, &b2fixturedef_new, vec_vertices, count_vertices);
KGLOG_PROCESS_ERROR(num_ret_code);
}
ptr_b2fixture = ptr_b2fixture->GetNext();
}
num_ret_code = ptr_gamesprite->SetB2Body(ptr_b2body_new);
KGLOG_PROCESS_ERROR(num_ret_code);
m_ptr_b2world->DestroyBody(ptr_b2body_old);
ptr_b2body_old = NULL;
num_result = TRUE;
Exit0:
if (!num_result)
{
if(ptr_b2body_new)
{
m_ptr_b2world->DestroyBody(ptr_b2body_new);
ptr_b2body_new = NULL;
}
}
return num_result;
}
