mattercontrol/ConfigurationPage/PrintLeveling/MeshLevlingFunctions.cs

/*
Copyright (c) 2014, Lars Brubaker
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.
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   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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*/

using System;
using System.Collections.Generic;
using System.Text;
using MatterControl.Printing;
using MatterHackers.Agg;
using MatterHackers.Agg.VertexSource;
using MatterHackers.Localizations;
using MatterHackers.MatterControl.SlicerConfiguration;
using MatterHackers.MeshVisualizer;
using MatterHackers.VectorMath;
using MIConvexHull;

namespace MatterHackers.MatterControl.ConfigurationPage.PrintLeveling
{
	public class MeshLevlingFunctions : IDisposable
	{
		private Vector3 lastDestinationWithLevelingApplied = new Vector3();

		PrinterSettings printerSettings;

		public MeshLevlingFunctions(PrinterSettings printerSettings, int gridWidth, int gridHeight, PrintLevelingData levelingData)
		{
			this.printerSettings = printerSettings;
			this.SampledPositions = new List<Vector3>(levelingData.SampledPositions);

			// get the delaunay triangulation
			var zDictionary = new Dictionary<(double, double), double>();
			var vertices = new List<DefaultVertex>();
			foreach(var sample in SampledPositions)
			{
				vertices.Add(new DefaultVertex()
				{
					Position = new double[] { sample.X, sample.Y }//, sample.Z }
				});
				var key = (sample.X, sample.Y);
				if (!zDictionary.ContainsKey(key))
				{
					zDictionary.Add(key, sample.Z);
				}
			};

			int extraXPosition = -50000;
			vertices.Add(new DefaultVertex()
			{
				Position = new double[] { extraXPosition, SampledPositions[0].Y }
			});

			var triangles = DelaunayTriangulation<DefaultVertex, DefaultTriangulationCell<DefaultVertex>>.Create(vertices, .001);

			var probeOffset = new Vector3(0, 0, printerSettings.GetValue<double>(SettingsKey.z_probe_z_offset));
			// make all the triangle planes for these triangles
			foreach (var triangle in triangles.Cells)
			{
				var p0 = triangle.Vertices[0].Position;
				var p1 = triangle.Vertices[1].Position;
				var p2 = triangle.Vertices[2].Position;
				if (p0[0] != extraXPosition && p1[0] != extraXPosition && p2[0] != extraXPosition)
				{
					var v0 = new Vector3(p0[0], p0[1], zDictionary[(p0[0], p0[1])]);
					var v1 = new Vector3(p1[0], p1[1], zDictionary[(p1[0], p1[1])]);
					var v2 = new Vector3(p2[0], p2[1], zDictionary[(p2[0], p2[1])]);
					// add all the regions
					Regions.Add(new LevelingTriangle(v0 - probeOffset, v1 - probeOffset, v2 - probeOffset));
				}
			}
		}

		// you can only set this on construction
		public List<Vector3> SampledPositions { get; private set; }

		public List<LevelingTriangle> Regions { get; private set; } = new List<LevelingTriangle>();

		public void Dispose()
		{
		}

		public string DoApplyLeveling(string lineBeingSent, Vector3 currentDestination)
		{
			double extruderDelta = 0;
			GCodeFile.GetFirstNumberAfter("E", lineBeingSent, ref extruderDelta);
			double feedRate = 0;
			GCodeFile.GetFirstNumberAfter("F", lineBeingSent, ref feedRate);

			StringBuilder newLine = new StringBuilder("G1 ");

			if (lineBeingSent.Contains("X") || lineBeingSent.Contains("Y") || lineBeingSent.Contains("Z"))
			{
				Vector3 outPosition = GetPositionWithZOffset(currentDestination);

				lastDestinationWithLevelingApplied = outPosition;

				newLine = newLine.Append(String.Format("X{0:0.##} Y{1:0.##} Z{2:0.###}", outPosition.X, outPosition.Y, outPosition.Z));
			}

			if (extruderDelta != 0)
			{
				newLine = newLine.Append(String.Format(" E{0:0.###}", extruderDelta));
			}

			if (feedRate != 0)
			{
				newLine = newLine.Append(String.Format(" F{0:0.##}", feedRate));
			}

			lineBeingSent = newLine.ToString();

			return lineBeingSent;
		}

		public Vector3 GetPositionWithZOffset(Vector3 currentDestination)
		{
			LevelingTriangle region = GetCorrectRegion(currentDestination);

			return region.GetPositionWithZOffset(currentDestination);
		}

		public Vector2 GetPrintLevelPositionToSample(int index, int gridWidth, int gridHeight)
		{
			Vector2 bedSize = printerSettings.GetValue<Vector2>(SettingsKey.bed_size);
			Vector2 printCenter = printerSettings.GetValue<Vector2>(SettingsKey.print_center);

			switch (printerSettings.GetValue<BedShape>(SettingsKey.bed_shape))
			{
				case BedShape.Circular:
					Vector2 firstPosition = new Vector2(printCenter.X, printCenter.Y + (bedSize.Y / 2) * .5);
					switch (index)
					{
						case 0:
							return firstPosition;

						case 1:
							return Vector2.Rotate(firstPosition, MathHelper.Tau / 3);

						case 2:
							return Vector2.Rotate(firstPosition, MathHelper.Tau * 2 / 3);

						default:
							throw new IndexOutOfRangeException();
					}

				case BedShape.Rectangular:
				default:
					switch (index)
					{
						case 0:
							return new Vector2(printCenter.X, printCenter.Y + (bedSize.Y / 2) * .8);

						case 1:
							return new Vector2(printCenter.X - (bedSize.X / 2) * .8, printCenter.Y - (bedSize.Y / 2) * .8);

						case 2:
							return new Vector2(printCenter.X + (bedSize.X / 2) * .8, printCenter.Y - (bedSize.Y / 2) * .8);

						default:
							throw new IndexOutOfRangeException();
					}
			}
		}

		private LevelingTriangle GetCorrectRegion(Vector3 currentDestination)
		{
			int bestIndex = 0;
			double bestDist = double.PositiveInfinity;

			currentDestination.Z = 0;
			for (int regionIndex = 0; regionIndex < Regions.Count; regionIndex++)
			{
				var dist = (Regions[regionIndex].Center - currentDestination).LengthSquared;
				if(dist < bestDist)
				{
					bestIndex = regionIndex;
					bestDist = dist;
				}
			}

			return Regions[bestIndex];
		}

		public class LevelingTriangle
		{
			VertexStorage triangle = new VertexStorage();

			public Vector3 V0 { get; private set; }
			public Vector3 V1 { get; private set; }
			public Vector3 V2 { get; private set; }

			public Vector3 Center { get; private set; }
			public Plane plane { get; private set; }

			public LevelingTriangle(Vector3 v0, Vector3 v1, Vector3 v2)
			{
				V0 = v0;
				V1 = v1;
				V2 = v2;
				Center = (V0 + V1 + V2) / 3;
				plane = new Plane(V0, V1, V2);
			}

			public Vector3 GetPositionWithZOffset(Vector3 currentDestination)
			{
				var destinationAtZ0 = new Vector3(currentDestination.X, currentDestination.Y, 0);

				double hitDistance = plane.GetDistanceToIntersection(destinationAtZ0, Vector3.UnitZ);
				currentDestination.Z += hitDistance;

				return currentDestination;
			}
		}
	}
}