#include <cmath>
#include <iostream>
#include "generator.h"
void GeneratorRowsZAX::tool_point(Track &track, const TrackPoint &p) const {
if (!track.points.empty()) {
TrackPoint &last = track.points.back();
if ( (last.position - p.position).len() <= precision
&& fabs(last.angle - p.angle) <= precision )
{
last.speed = p.speed;
return;
}
}
track.points.push_back(p);
}
void GeneratorRowsZAX::tool_up(Track &track, Real safe_z) const {
if (track.points.empty()) return;
const TrackPoint &prev = track.points.back();
if (prev.position.z == safe_z) return;
TrackPoint p;
p.position = prev.position;
p.position.z = safe_z;
p.angle = prev.angle;
p.speed = move_speed/60.0;
tool_point(track, p);
}
void GeneratorRowsZAX::tool_feed(Track &track, Real safe_z, Real z1, Real z, Real a, Real x) const {
TrackPoint p;
p.position = Vector3(x, 0, safe_z);
p.angle = a*180.0/M_PI;
if (track.points.empty() || track.points.back().position.z == safe_z) {
p.speed = move_speed/60.0;
tool_point(track, p);
if (safe_z > z1 && z1 > z) {
p.position.z = z1;
tool_point(track, p);
}
}
p.position.z = z;
p.speed = feed_speed/60.0;
tool_point(track, p);
}
void GeneratorRowsZAX::touch(
const Collider &collider,
Track &track,
Real safe_z, Real z1, Real z0,
Real a, Real x,
bool skip_z0 ) const
{
Vector3 dir(0, sin(a), -cos(a));
Vector3 pos(x, 0, 0);
Real z = collider.distance_to_model(pos, dir);
if (std::isinf(z))
z = std::max(Real(0), z0);
z = std::max(-z, z0);
if (z > z1 || (skip_z0 && z == z0))
tool_up(track, safe_z);
else
tool_feed(track, safe_z, z1, z, a, x);
}
bool GeneratorRowsZAX::generate(const Collider &collider, Track &track) const {
track.points.clear();
const Real precision = 1e-3;
if (collider.model.triangles.empty()) return false;
if (step_z != 0 && step_z <= precision) return false;
if (step_a <= precision) return false;
if (step_x <= precision) return false;
if (feed_speed <= precision) return false;
if (move_speed <= precision) return false;
std::cout << "GeneratorRowsZAX::generate" << std::endl;
unsigned long long max_count = 100ull*1024*1024/sizeof(track.points.front());
Real min_x = this->min_x;
Real max_x = this->max_x;
Real min_z = this->min_z;
Real max_z = this->max_z;
Real safe_z = this->safe_z;
const TriangleList &triangles = collider.model.triangles;
// calc bounds
Real bx0 = INFINITY, bx1 = -INFINITY, bz1 = 0;
for(TriangleList::const_iterator i = triangles.begin(); i != triangles.end(); ++i) {
for(int j = 0; j < 3; ++j) {
const Vector3 &v = i->vertices[j];
const Real z = sqrt(v.y*v.y + v.z*v.z);
bx0 = std::min(bx0, v.x);
bx1 = std::max(bx1, v.x);
bz1 = std::max(bz1, z);
}
}
bx0 += collider.tool.get_radius();
bx1 -= collider.tool.get_radius();
if (bx1 + precision <= bx0 || bz1 + precision <= 0) {
std::cout << "GeneratorRowsZAX::generate: zero bound" << std::endl;
return false;
}
if (max_x <= min_x) {
min_x = bx0;
max_x = bx1;
} else {
min_x = std::max(min_x, bx0);
max_x = std::min(max_x, bx1);
}
if (max_x + precision <= min_x) return false;
min_z = std::max(min_z, -max_z);
max_z = std::max(max_z, bz1);
safe_z = std::max(safe_z, max_z + 1);
int count_z = step_z ? std::max(1, (int)ceil((max_z - min_z)/step_z - precision)) : 1;
int count_x = std::max(1, (int)ceil((max_x - min_x)/step_x - precision)) + 1;
bool forward_a = true;
bool forward_x = true;
Real z1 = max_z + precision;
for(int iz = 0; iz < count_z; ++iz) {
Real z0 = count_z <= 1 ? min_z : max_z - (iz+1)*(max_z - min_z)/count_z;
int count_a = 3;
if (fabs(z1) > precision)
count_a = std::max(count_a, (int)ceil(2*M_PI*fabs(z1)/step_a - precision));
Real sa = 2*M_PI/count_a;
int count_aa = 0;
if (fabs(z1) > precision)
count_aa = (int)ceil(sa*fabs(z1)/step_x - precision);
for(int ia = 0; ia < count_a; ++ia) {
int iia = forward_a ? ia : count_a - ia - 1;
Real a = iia*sa;
if (feed_in_rotation && ia > 0) {
for(int iaa = 1; iaa < count_aa; ++iaa) {
Real aa = sa - sa*iaa/count_a;
aa = forward_a ? a - aa : a + aa;
Real x = forward_x ? min_x : max_x;
touch(collider, track, safe_z, z1, z0, aa, x, skip_middle_layers);
if (track.points.size() >= max_count) break;
}
}
for(int ix = 0; ix < count_x; ++ix) {
int iix = forward_x ? ix : count_x - ix - 1;
Real x = min_x + iix*(max_x - min_x)/(count_x - 1);
touch(collider, track, safe_z, z1, z0, a, x, skip_middle_layers);
if (track.points.size() >= max_count) break;
}
if (!feed_in_rotation)
tool_up(track, safe_z);
forward_x = !forward_x;
if (track.points.size() >= max_count) break;
std::cout << "." << std::flush;
}
forward_a = !forward_a;
z1 = z0;
if (track.points.size() >= max_count) break;
std::cout << std::endl << std::flush;
}
tool_up(track, safe_z);
if (track.points.size() >= max_count) {
std::cout << "GeneratorRowsZAX::generate: reached memory limit" << std::endl;
return false;
}
if (track.points.size() <= 1) {
std::cout << "GeneratorRowsZAX::generate: generated track is empty" << std::endl;
return false;
}
track.split(1, 0, 0);
track.calc_length();
track.split(0, 0.1, 0);
std::cout << "GeneratorRowsZAX::generate: track dureation " << (track.points.back().time/60) << std::endl;
std::cout << "GeneratorRowsZAX::generate: done" << std::endl;
return true;
}