import math from typing import List, TYPE_CHECKING, Tuple, Set if TYPE_CHECKING: from UM.Scene.SceneNode import SceneNode from cura.BuildVolume import BuildVolume from UM.Application import Application from UM.Math.Vector import Vector from UM.Operations.AddSceneNodeOperation import AddSceneNodeOperation from UM.Operations.GroupedOperation import GroupedOperation from UM.Operations.TranslateOperation import TranslateOperation from cura.Arranging.Arranger import Arranger class GridArrange(Arranger): def __init__(self, nodes_to_arrange: List["SceneNode"], build_volume: "BuildVolume", fixed_nodes: List["SceneNode"] = None): if fixed_nodes is None: fixed_nodes = [] self._nodes_to_arrange = nodes_to_arrange self._build_volume = build_volume self._build_volume_bounding_box = build_volume.getBoundingBox() self._fixed_nodes = fixed_nodes self._margin_x: float = 1 self._margin_y: float = 1 self._grid_width = 0 self._grid_height = 0 for node in self._nodes_to_arrange: bounding_box = node.getBoundingBox() self._grid_width = max(self._grid_width, bounding_box.width) self._grid_height = max(self._grid_height, bounding_box.depth) self._grid_width += self._margin_x self._grid_height += self._margin_y # Round up the grid size to the nearest cm grid_precision = 10 # 1cm self._grid_width = math.ceil(self._grid_width / grid_precision) * grid_precision self._grid_height = math.ceil(self._grid_height / grid_precision) * grid_precision self._offset_x = 0 self._offset_y = 0 self._findOptimalGridOffset() coord_initial_leftover_x = self._build_volume_bounding_box.right + 2 * self._grid_width coord_initial_leftover_y = (self._build_volume_bounding_box.back + self._build_volume_bounding_box.front) * 0.5 self._initial_leftover_grid_x, self._initial_leftover_grid_y = self._coordSpaceToGridSpace( coord_initial_leftover_x, coord_initial_leftover_y) self._initial_leftover_grid_x = math.floor(self._initial_leftover_grid_x) self._initial_leftover_grid_y = math.floor(self._initial_leftover_grid_y) # Find grid indexes that intersect with fixed objects self._fixed_nodes_grid_ids = set() for node in self._fixed_nodes: self._fixed_nodes_grid_ids = self._fixed_nodes_grid_ids.union( self._intersectingGridIdxInclusive(node.getBoundingBox())) #grid indexes that are in disallowed area for polygon in self._build_volume.getDisallowedAreas(): self._fixed_nodes_grid_ids = self._fixed_nodes_grid_ids.union( self._getIntersectingGridIdForPolygon(polygon)) self._build_plate_grid_ids = self._intersectingGridIdxExclusive(self._build_volume_bounding_box) # Filter out the corner grid squares if the build plate shape is elliptic if self._build_volume.getShape() == "elliptic": self._build_plate_grid_ids = set( filter(lambda grid_id: self._checkGridUnderDiscSpace(grid_id[0], grid_id[1]), self._build_plate_grid_ids)) self._allowed_grid_idx = self._build_plate_grid_ids.difference(self._fixed_nodes_grid_ids) def createGroupOperationForArrange(self, *, add_new_nodes_in_scene: bool = False) -> Tuple[GroupedOperation, int]: # Find the sequence in which items are placed coord_build_plate_center_x = self._build_volume_bounding_box.width * 0.5 + self._build_volume_bounding_box.left coord_build_plate_center_y = self._build_volume_bounding_box.depth * 0.5 + self._build_volume_bounding_box.back grid_build_plate_center_x, grid_build_plate_center_y = self._coordSpaceToGridSpace(coord_build_plate_center_x, coord_build_plate_center_y) sequence: List[Tuple[int, int]] = list(self._allowed_grid_idx) sequence.sort(key=lambda grid_id: (grid_build_plate_center_x - grid_id[0]) ** 2 + ( grid_build_plate_center_y - grid_id[1]) ** 2) scene_root = Application.getInstance().getController().getScene().getRoot() grouped_operation = GroupedOperation() for grid_id, node in zip(sequence, self._nodes_to_arrange): if add_new_nodes_in_scene: grouped_operation.addOperation(AddSceneNodeOperation(node, scene_root)) grid_x, grid_y = grid_id operation = self._moveNodeOnGrid(node, grid_x, grid_y) grouped_operation.addOperation(operation) leftover_nodes = self._nodes_to_arrange[len(sequence):] left_over_grid_y = self._initial_leftover_grid_y for node in leftover_nodes: if add_new_nodes_in_scene: grouped_operation.addOperation(AddSceneNodeOperation(node, scene_root)) # find the first next grid position that isn't occupied by a fixed node while (self._initial_leftover_grid_x, left_over_grid_y) in self._fixed_nodes_grid_ids: left_over_grid_y = left_over_grid_y - 1 operation = self._moveNodeOnGrid(node, self._initial_leftover_grid_x, left_over_grid_y) grouped_operation.addOperation(operation) left_over_grid_y = left_over_grid_y - 1 return grouped_operation, len(leftover_nodes) def _findOptimalGridOffset(self): if len(self._fixed_nodes) == 0: self._offset_x = 0 self._offset_y = 0 return if len(self._fixed_nodes) == 1: center_grid_x = 0.5 * self._grid_width + self._build_volume_bounding_box.left center_grid_y = 0.5 * self._grid_height + self._build_volume_bounding_box.back bounding_box = self._fixed_nodes[0].getBoundingBox() center_node_x = (bounding_box.left + bounding_box.right) * 0.5 center_node_y = (bounding_box.back + bounding_box.front) * 0.5 self._offset_x = center_node_x - center_grid_x self._offset_y = center_node_y - center_grid_y return # If there are multiple fixed nodes, an optimal solution is not always possible # We will try to find an offset that minimizes the number of grid intersections # with fixed nodes. The algorithm below achieves this by utilizing a scanline # algorithm. In this algorithm each axis is solved separately as offsetting # is completely independent in each axis. The comments explaining the algorithm # below are for the x-axis, but the same applies for the y-axis. # # Each node either occupies ceil((node.right - node.right) / grid_width) or # ceil((node.right - node.right) / grid_width) + 1 grid squares. We will call # these the node's "footprint". # # ┌────────────────┐ # minimum foot-print │ NODE │ # └────────────────┘ # │ grid 1 │ grid 2 │ grid 3 │ grid 4 | grid 5 | # ┌────────────────┐ # maximum foot-print │ NODE │ # └────────────────┘ # # The algorithm will find the grid offset such that the number of nodes with # a _minimal_ footprint is _maximized_. # The scanline algorithm works as follows, we create events for both end points # of each node's footprint. The event have two properties, # - the coordinate: the amount the endpoint can move to the # left before it crosses a grid line # - the change: either +1 or -1, indicating whether crossing the grid line # would result in a minimal footprint node becoming a maximal footprint class Event: def __init__(self, coord: float, change: float): self.coord = coord self.change = change # create events for both the horizontal and vertical axis events_horizontal: List[Event] = [] events_vertical: List[Event] = [] for node in self._fixed_nodes: bounding_box = node.getBoundingBox() left = bounding_box.left - self._build_volume_bounding_box.left right = bounding_box.right - self._build_volume_bounding_box.left back = bounding_box.back - self._build_volume_bounding_box.back front = bounding_box.front - self._build_volume_bounding_box.back value_left = math.ceil(left / self._grid_width) * self._grid_width - left value_right = math.ceil(right / self._grid_width) * self._grid_width - right value_back = math.ceil(back / self._grid_height) * self._grid_height - back value_front = math.ceil(front / self._grid_height) * self._grid_height - front # give nodes a weight according to their size. This # weight is heuristically chosen to be proportional to # the number of grid squares the node-boundary occupies weight = bounding_box.width + bounding_box.depth events_horizontal.append(Event(value_left, weight)) events_horizontal.append(Event(value_right, -weight)) events_vertical.append(Event(value_back, weight)) events_vertical.append(Event(value_front, -weight)) events_horizontal.sort(key=lambda event: event.coord) events_vertical.sort(key=lambda event: event.coord) def findOptimalShiftAxis(events: List[Event], interval: float) -> float: # executing the actual scanline algorithm # iteratively go through events (left to right) and keep track of the # current footprint. The optimal location is the one with the minimal # footprint. If there are multiple locations with the same minimal # footprint, the optimal location is the one with the largest range # between the left and right endpoint of the footprint. prev_offset = events[-1].coord - interval current_minimal_footprint_count = 0 best_minimal_footprint_count = float('inf') best_offset_span = float('-inf') best_offset = 0.0 for event in events: offset_span = event.coord - prev_offset if current_minimal_footprint_count < best_minimal_footprint_count or ( current_minimal_footprint_count == best_minimal_footprint_count and offset_span > best_offset_span): best_minimal_footprint_count = current_minimal_footprint_count best_offset_span = offset_span best_offset = event.coord current_minimal_footprint_count += event.change prev_offset = event.coord return best_offset - best_offset_span * 0.5 center_grid_x = 0.5 * self._grid_width center_grid_y = 0.5 * self._grid_height optimal_center_x = self._grid_width - findOptimalShiftAxis(events_horizontal, self._grid_width) optimal_center_y = self._grid_height - findOptimalShiftAxis(events_vertical, self._grid_height) self._offset_x = optimal_center_x - center_grid_x self._offset_y = optimal_center_y - center_grid_y def _moveNodeOnGrid(self, node: "SceneNode", grid_x: int, grid_y: int) -> "Operation.Operation": coord_grid_x, coord_grid_y = self._gridSpaceToCoordSpace(grid_x, grid_y) center_grid_x = coord_grid_x + (0.5 * self._grid_width) center_grid_y = coord_grid_y + (0.5 * self._grid_height) bounding_box = node.getBoundingBox() center_node_x = (bounding_box.left + bounding_box.right) * 0.5 center_node_y = (bounding_box.back + bounding_box.front) * 0.5 delta_x = center_grid_x - center_node_x delta_y = center_grid_y - center_node_y return TranslateOperation(node, Vector(delta_x, 0, delta_y)) def _getGridCornerPoints(self, bounding_box: "BoundingVolume") -> Tuple[float, float, float, float]: coord_x1 = bounding_box.left coord_x2 = bounding_box.right coord_y1 = bounding_box.back coord_y2 = bounding_box.front grid_x1, grid_y1 = self._coordSpaceToGridSpace(coord_x1, coord_y1) grid_x2, grid_y2 = self._coordSpaceToGridSpace(coord_x2, coord_y2) return grid_x1, grid_y1, grid_x2, grid_y2 def _getIntersectingGridIdForPolygon(self, polygon)-> Set[Tuple[int, int]]: # (x0, y0) # | # v # ┌─────────────┐ # │ │ # │ │ # └─────────────┘ < (x1, y1) x0 = float('inf') y0 = float('inf') x1 = float('-inf') y1 = float('-inf') grid_idx = set() for [x, y] in polygon.getPoints(): x0 = min(x0, x) y0 = min(y0, y) x1 = max(x1, x) y1 = max(y1, y) grid_x1, grid_y1 = self._coordSpaceToGridSpace(x0, y0) grid_x2, grid_y2 = self._coordSpaceToGridSpace(x1, y1) for grid_x in range(math.floor(grid_x1), math.ceil(grid_x2)): for grid_y in range(math.floor(grid_y1), math.ceil(grid_y2)): grid_idx.add((grid_x, grid_y)) return grid_idx def _intersectingGridIdxInclusive(self, bounding_box: "BoundingVolume") -> Set[Tuple[int, int]]: grid_x1, grid_y1, grid_x2, grid_y2 = self._getGridCornerPoints(bounding_box) grid_idx = set() for grid_x in range(math.floor(grid_x1), math.ceil(grid_x2)): for grid_y in range(math.floor(grid_y1), math.ceil(grid_y2)): grid_idx.add((grid_x, grid_y)) return grid_idx def _intersectingGridIdxExclusive(self, bounding_box: "BoundingVolume") -> Set[Tuple[int, int]]: grid_x1, grid_y1, grid_x2, grid_y2 = self._getGridCornerPoints(bounding_box) grid_idx = set() for grid_x in range(math.ceil(grid_x1), math.floor(grid_x2)): for grid_y in range(math.ceil(grid_y1), math.floor(grid_y2)): grid_idx.add((grid_x, grid_y)) return grid_idx def _gridSpaceToCoordSpace(self, x: float, y: float) -> Tuple[float, float]: grid_x = x * self._grid_width + self._build_volume_bounding_box.left + self._offset_x grid_y = y * self._grid_height + self._build_volume_bounding_box.back + self._offset_y return grid_x, grid_y def _coordSpaceToGridSpace(self, grid_x: float, grid_y: float) -> Tuple[float, float]: coord_x = (grid_x - self._build_volume_bounding_box.left - self._offset_x) / self._grid_width coord_y = (grid_y - self._build_volume_bounding_box.back - self._offset_y) / self._grid_height return coord_x, coord_y def _checkGridUnderDiscSpace(self, grid_x: int, grid_y: int) -> bool: left, back = self._gridSpaceToCoordSpace(grid_x, grid_y) right, front = self._gridSpaceToCoordSpace(grid_x + 1, grid_y + 1) corners = [(left, back), (right, back), (right, front), (left, front)] return all([self._checkPointUnderDiscSpace(x, y) for x, y in corners]) def _checkPointUnderDiscSpace(self, x: float, y: float) -> bool: disc_x, disc_y = self._coordSpaceToDiscSpace(x, y) distance_to_center_squared = disc_x ** 2 + disc_y ** 2 return distance_to_center_squared <= 1.0 def _coordSpaceToDiscSpace(self, x: float, y: float) -> Tuple[float, float]: # Transform coordinate system to # # coord_build_plate_left = -1 # | coord_build_plate_right = 1 # v (0,1) v # ┌───────┬───────┐ < coord_build_plate_back = -1 # │ │ │ # │ │(0,0) │ # (-1,0)├───────o───────┤(1,0) # │ │ │ # │ │ │ # └───────┴───────┘ < coord_build_plate_front = +1 # (0,-1) disc_x = ((x - self._build_volume_bounding_box.left) / self._build_volume_bounding_box.width) * 2.0 - 1.0 disc_y = ((y - self._build_volume_bounding_box.back) / self._build_volume_bounding_box.depth) * 2.0 - 1.0 return disc_x, disc_y