public static double? VertexTest(Cutter c,Geo.Point e, Geo.Point p)
{
// c.R and c.r define the cutter
// e.x and e.y is the xy-position of the cutter (e.z is ignored)
// p is the vertex tested against
// q is the distance along xy-plane from e to vertex
double q = Math.Sqrt(Math.Pow(e.x - p.x, 2) + Math.Pow((e.y - p.y), 2));
if (q > c.R)
{
// vertex is outside cutter. no need to do anything!
return null;
}
else if (q <= (c.R - c.r))
{
// vertex is in the cylindical/flat part of the cutter
return p.z;
}
else if ((q > (c.R - c.r)) && (q <= c.R))
{
// vertex is in the toroidal part of the cutter
double h2 = Math.Sqrt(Math.Pow(c.r, 2) - Math.Pow((q - (c.R - c.r)), 2));
double h1 = c.r - h2;
return p.z - h1;
}
else
{
// SERIOUS ERROR, we should not be here!
System.Console.WriteLine("DropCutter: VertexTest: ERROR!");
return null;
}
} // end VertexTest
public static void search_kdtree(List<Tri> tlist, Point p, Cutter c, kd_node node)
{
ns+=1;
if (node.tris != null)
{
if (node.tris.Count > 0)
{ // add all triangles of a bucket node
foreach (Tri t in node.tris)
{
// check that t belongs
if ((p.x + c.R) < t.bb.minx)
return;
else if ((p.x - c.R) > t.bb.maxx)
return;
else if ((p.y + c.R) < t.bb.miny)
return;
else if ((p.y - c.R) > t.bb.maxy)
return;
else
tlist.Add(t);
}
return;
}
}
switch (node.dim)
{
case 0: // cut along xplus
if (node.cutval <= p.x - c.R)
search_kdtree(tlist, p, c, node.hi);
else
{
search_kdtree(tlist, p, c, node.hi);
search_kdtree(tlist, p, c, node.lo);
}
break;
case 1: // cut along xminus
if (node.cutval >= p.x + c.R)
search_kdtree(tlist, p, c, node.lo);
else
{
search_kdtree(tlist, p, c, node.hi);
search_kdtree(tlist, p, c, node.lo);
}
break;
case 2: // cut along yplus
if (node.cutval <= p.y - c.R)
search_kdtree(tlist, p, c, node.hi);
else
{
search_kdtree(tlist, p, c, node.hi);
search_kdtree(tlist, p, c, node.lo);
}
break;
case 3: // cut along yminus
if (node.cutval >= p.y + c.R)
search_kdtree(tlist, p, c, node.lo);
{
search_kdtree(tlist, p, c, node.hi);
search_kdtree(tlist, p, c, node.lo);
}
break;
}
return;
}
public static void stlmachine(GLWindow g, STLSurf s)
{
List<Geo.Point> pointlist=new List<Geo.Point>();
// seems to work...
// foreach (Geo.Tri t in s.tris)
// System.Console.WriteLine("loop1 triangles " + t);
// System.Console.ReadKey();
// recalculate normal data
// create bounding box data
foreach (Geo.Tri t in s.tris)
{
t.recalc_normals(); // FIXME why don't new values stick??
t.calc_bbox(); // FIXME: why doen't bb-data 'stick' ??
}
/*
// FIXME: if we check bb-data here it is gone!!(??)
foreach (Geo.Tri t in s.tris)
{
System.Console.WriteLine("loop2 triangles " + t);
System.Console.WriteLine("loop2 direct maxx" + t.bb.maxx + " minx:" + t.bb.minx);
}
System.Console.ReadKey();
*/
// find bounding box (this should probably be done in the STLSurf class?)
double minx = 0, maxx = 10, miny = 0, maxy = 10;
// generate XY pattern (a general zigzag-strategy, needed also for pocketing)
double Nx=50;
double Ny=50;
double dx=(maxx-minx)/(double)(Nx-1);
double dy = (maxy - miny) / (double)(Ny-1);
double x = minx;
for (int n = 0; n < Nx; n++)
{
if (n%2==0)
{
double y = miny;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Geo.Point(x,y,5));
// System.Console.WriteLine("x:"+x+" y:"+y);
y += dy;
// System.Console.ReadKey();
}
}
else
{
double y = maxy;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Geo.Point(x,y,5));
//System.Console.WriteLine("x:" + x + " y:" + y);
y -= dy;
//System.Console.ReadKey();
}
}
x += dx;
}
// drop cutter (i.e. add z-data)
double R=1,r=0.2;
Cutter cu = new Cutter(R,r);
List<Geo.Point> drop_points = new List<Geo.Point>();
double redundant = 0;
double checks = 0;
foreach (Geo.Point p in pointlist)
{
double? v1 = null,v2=null,v3=null,z_new=null,f=null,e1=null,e2=null,e3=null;
List<double> zlist = new List<double>();
foreach (Geo.Tri t in s.tris)
{
checks++;
t.calc_bbox(); // why do we have to re-calculate bb-data here??
//System.Console.WriteLine("testing triangle" + t);
if (t.bb.minx > (p.x + cu.R))
{
redundant++;
continue;
}
else if (t.bb.maxx < (p.x - cu.R))
{
redundant++;
continue;
}
if (t.bb.miny > (p.y + cu.R))
{
redundant++;
continue;
}
if (t.bb.maxy < (p.y - cu.R))
{
redundant++;
continue;
}
v1 = DropCutter.VertexTest(cu, p, t.p[0]);
v2 = DropCutter.VertexTest(cu, p, t.p[1]);
v3 = DropCutter.VertexTest(cu, p, t.p[2]);
if (v2 != null)
{
zlist.Add((double)v2);
}
if (v1 != null)
{
zlist.Add((double)v1);
}
if (v3 != null)
{
zlist.Add((double)v3);
}
f = DropCutter.FacetTest(cu, p, t);
if (f != null)
{
zlist.Add((double)f);
}
e1 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[1]);
e2 = DropCutter.EdgeTest(cu, p, t.p[1], t.p[2]);
e3 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[2]);
if (e1 != null)
zlist.Add((double)e1);
if (e2 != null)
zlist.Add((double)e2);
if (e3 != null)
zlist.Add((double)e3);
/*
if (zlist.Count > 1)
{
System.Console.Write("Before: ");
foreach (double d in zlist)
System.Console.Write(d.ToString() + " ");
System.Console.Write("\n");
}
*/
zlist.Sort();
/*
if (zlist.Count > 2)
{
System.Console.Write("After: ");
foreach (double d in zlist)
System.Console.Write(d.ToString() + " ");
System.Console.Write("\n");
}
*/
// System.Console.Write("Sorted: ");
// foreach (double d in zlist)
// System.Console.Write(d.ToString() + " ");
// System.Console.Write("\n");
if (zlist.Count > 0)
z_new = zlist[zlist.Count-1];
/*
if (zlist.Count > 1)
System.Console.WriteLine("chosen: " + z_new);
*/
// System.Console.ReadKey();
} // end triangle loop
if (z_new != null)
{
drop_points.Add(new Geo.Point(p.x, p.y, (double)z_new));
}
} // end point-list loop
System.Console.WriteLine("checked: "+ checks + " redundant: " + redundant);
System.Console.WriteLine("relevant: "+(checks-redundant) + " ("+100*(double)(checks-redundant)/(double)checks+"%)");
// check to see that STL has not changed
// display drop-points
int i = 1;
Geo.Point p0=new Geo.Point();
foreach (Geo.Point p in drop_points)
{
if (i == 1) // first move
{
p0 = new Geo.Point(p.x, p.y, 10);
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Yellow;
g.addGeom(l);
p0 = p;
}
else // don't do anything for last move
{
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Magenta;
g.addGeom(l);
p0 = p;
}
i++;
/*
GeoPoint pg = new GeoPoint(p);
pg.color = System.Drawing.Color.Aqua;
g.addGeom(pg);
*/
}
// display zigzag and points
/*
i = 1;
foreach (Geo.Point p in pointlist)
{
if (i == 1)
{
p0 = new Geo.Point(p.x, p.y, 10);
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Yellow;
g.addGeom(l);
p0 = p;
}
else
{
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Cyan;
g.addGeom(l);
p0 = p;
}
i++;
}
*/
// dummy test:
/*
foreach (Geo.Tri t in s.tris)
{
GeoPoint p = new GeoPoint(t.p[0].x, t.p[0].y, t.p[0].z);
pointlist.Add(p);
}
*/
}
public static void stlmachine(STLSurf s, GeoCollection g)
{
List <Point> pointlist = new List <Point>();
// seems to work...
// foreach (Geo.Tri t in s.tris)
// System.Console.WriteLine("loop1 triangles " + t);
// System.Console.ReadKey();
// recalculate normal data
// create bounding box data
foreach (Tri t in s.tris)
{
t.recalc_normals(); // FIXME why don't new values stick??
t.calc_bbox(); // FIXME: why doen't bb-data 'stick' ??
}
/*
* // FIXME: if we check bb-data here it is gone!!(??)
* foreach (Geo.Tri t in s.tris)
* {
* System.Console.WriteLine("loop2 triangles " + t);
* System.Console.WriteLine("loop2 direct maxx" + t.bb.maxx + " minx:" + t.bb.minx);
* }
* System.Console.ReadKey();
*/
// find bounding box (this should probably be done in the STLSurf class?)
double minx = 0, maxx = 10, miny = 0, maxy = 10;
// generate XY pattern (a general zigzag-strategy, needed also for pocketing)
// store in a list called pointlist
double Nx = 30;
double Ny = 40;
double dx = (maxx - minx) / (double)(Nx - 1);
double dy = (maxy - miny) / (double)(Ny - 1);
double x = minx;
for (int n = 0; n < Nx; n++)
{
if (n % 2 == 0)
{
double y = miny;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Point(x, y, 5));
// System.Console.WriteLine("x:"+x+" y:"+y);
y += dy; // go forward in the y-axis direction
// System.Console.ReadKey();
}
}
else
{
double y = maxy;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Point(x, y, 5));
//System.Console.WriteLine("x:" + x + " y:" + y);
y -= dy; // go backward in the y-axis direction
//System.Console.ReadKey();
}
}
x += dx;
}
// drop cutter (i.e. add z-data)
double R = 1, r = 0.2; // this is the cutter definition
Cutter cu = new Cutter(R, r);
List <Point> drop_points = new List <Point>();
double redundant = 0; // number of unneccesary calls to drop-cutter
double checks = 0; // number of relevant calls
// build the kd-tree
Stopwatch st = new Stopwatch();
Console.WriteLine("Building kd-tree. Stopwatch start");
st.Start();
kd_node root;
root = kdtree.build_kdtree(s.tris);
st.Stop();
Console.WriteLine("Elapsed = {0}", st.Elapsed.ToString());
// FIXME: these calls to drop-cutter are independent of each other
// thus the points could/should be divided into many subsets
// and each subset is processed by a seprarate thread
// this should give a substantial speedup on multi-core cpus
Console.WriteLine("Running drop-cutter. Stopwatch start");
st.Start();
foreach (Point p in pointlist) // loop through each point
{
double?v1 = null, v2 = null, v3 = null, z_new = null, f = null, e1 = null, e2 = null, e3 = null;
// store the possible z-values in this list
// the highest one of these should be chosen in the end
List <double> zlist = new List <double>();
// find triangles under cutter using kd-tree
int mode = 1;
List <Tri> tris_to_search = new List <Tri>();
if (mode == 0)
{
tris_to_search = s.tris;
}
else if (mode == 1)
{
kdtree.search_kdtree(tris_to_search, p, cu, root);
}
//Console.WriteLine("searching {0} tris",tris_to_search.Count);
//Console.ReadKey();
// loop through each triangle
foreach (Tri t in tris_to_search)
{
checks++;
t.calc_bbox(); // FIXME: why do we have to re-calculate bb-data here??
//System.Console.WriteLine("testing triangle" + t);
// here are four ways the triangle bounding box can be
// outside the cutter bounding box
// redundant could be used to test the performance of bucketing/kd-tree
if (t.bb.minx > (p.x + cu.R))
{
redundant++;
continue;
}
else if (t.bb.maxx < (p.x - cu.R))
{
redundant++;
continue;
}
if (t.bb.miny > (p.y + cu.R))
{
redundant++;
continue;
}
if (t.bb.maxy < (p.y - cu.R))
{
redundant++;
continue;
}
// test cutter against each vertex
v1 = DropCutter.VertexTest(cu, p, t.p[0]);
v2 = DropCutter.VertexTest(cu, p, t.p[1]);
v3 = DropCutter.VertexTest(cu, p, t.p[2]);
if (v2 != null)
{
zlist.Add((double)v2);
}
if (v1 != null)
{
zlist.Add((double)v1);
}
if (v3 != null)
{
zlist.Add((double)v3);
}
// test cutter against facet
f = DropCutter.FacetTest(cu, p, t);
if (f != null)
{
zlist.Add((double)f);
}
// test cutter against each edge
e1 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[1]);
e2 = DropCutter.EdgeTest(cu, p, t.p[1], t.p[2]);
e3 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[2]);
if (e1 != null)
{
zlist.Add((double)e1);
}
if (e2 != null)
{
zlist.Add((double)e2);
}
if (e3 != null)
{
zlist.Add((double)e3);
}
// now we have some suggestions for z in zlist
// by sorting it we get the highest one at the end of the list
zlist.Sort();
// if there's anything in the list, return the last element
if (zlist.Count > 0)
{
z_new = zlist[zlist.Count - 1];
}
} // end triangle loop
// we've gone through all triangles for this XY-location
// if we found a z-value, let's add the valid cutter location
// to a list drop_points
if (z_new != null)
{
drop_points.Add(new Point(p.x, p.y, (double)z_new));
}
} // end point-list loop
st.Stop();
Console.WriteLine("Elapsed = {0}", st.Elapsed.ToString());
// print some statistics:
System.Console.WriteLine("checked: " + checks + " redundant: " + redundant);
double fraction = (100 * (double)(checks - redundant) / (double)checks);
System.Console.WriteLine("relevant: " + (checks - redundant) + " (" + fraction.ToString("N3") + "%)");
// FIXME: now a toolpath object should be created
// that has rapids/feeds according to the points calculated above
int i = 1;
Point p0 = new Point();
// this is needed so we get decimal points, not commas
System.Globalization.CultureInfo glob = new System.Globalization.CultureInfo("en-GB");
Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-GB");
foreach (Point p in drop_points)
{
if (i == 1) // first move
{
p0 = new Point(p.x, p.y, 12);
camtest.outfile.WriteLine("Cylinder");
camtest.outfile.WriteLine("{0},{1},{2}", p0.x.ToString("0.000", glob), p0.y.ToString("0.000", glob), p0.z.ToString("0.000", glob));
camtest.outfile.WriteLine("{0}", 0.01.ToString("0.000", glob));
camtest.outfile.WriteLine("{0},{1},{2}", p.x.ToString("0.000", glob), p.y.ToString("0.000", glob), p.z.ToString("0.000", glob));
Line l = new Line(p0, p);
g.add(l); // ADD geometry to toolpath
p0 = p;
}
else
{
camtest.outfile.WriteLine("Cylinder");
camtest.outfile.WriteLine("{0},{1},{2}", p0.x.ToString("0.000", glob), p0.y.ToString("0.000", glob), p0.z.ToString("0.000", glob));
camtest.outfile.WriteLine("{0}", 0.01.ToString("0.000", glob));
camtest.outfile.WriteLine("{0},{1},{2}", p.x.ToString("0.000", glob), p.y.ToString("0.000", glob), p.z.ToString("0.000", glob));
Line l = new Line(p0, p);
g.add(l); // ADD geometry to toolpath
p0 = p;
}
i++;
}
}
public static double? EdgeTest(Cutter cu, Point e, Point p1, Point p2)
{
// contact cutter against edge from p1 to p2
// translate segment so that cutter is at (0,0)
Point start = new Point(p1.x - e.x, p1.y - e.y, p1.z);
Point end = new Point(p2.x - e.x, p2.y - e.y, p2.z);
// find angle btw. segment and X-axis
double dx = end.x - start.x;
double dy = end.y - start.y;
double alfa;
if (dx != 0)
alfa = Math.Atan(dy / dx);
else
alfa = Math.PI / 2;
//alfa = -alfa;
// rotation matrix for rotation around z-axis:
// should probably implement a matrix class later
// rotate by angle alfa
// need copy of data that does not change as we go through each line:
double sx = start.x, sy = start.y, ex = end.x, ey = end.y;
start.x = sx * Math.Cos(alfa) + sy * Math.Sin(alfa);
start.y = -sx * Math.Sin(alfa) + sy * Math.Cos(alfa);
end.x = ex * Math.Cos(alfa) + ey * Math.Sin(alfa);
end.y = -ex * Math.Sin(alfa) + ey * Math.Cos(alfa);
// check if segment is below cutter
if (start.y > 0)
{
alfa = alfa+Math.PI;
start.x = sx * Math.Cos(alfa) + sy * Math.Sin(alfa);
start.y = -sx * Math.Sin(alfa) + sy * Math.Cos(alfa);
end.x = ex * Math.Cos(alfa) + ey * Math.Sin(alfa);
end.y = -ex * Math.Sin(alfa) + ey * Math.Cos(alfa);
}
if (Math.Abs(start.y-end.y)>0.0000001)
{
System.Console.WriteLine("EdgeTest ERROR! (start.y - end.y) = " +(start.y-end.y));
return null;
}
double l = -start.y; // distance from cutter to edge
if (l < 0)
System.Console.WriteLine("EdgeTest ERROR! l<0 !");
// System.Console.WriteLine("l=" + l+" start.y="+start.y+" end.y="+end.y);
// now we have two different algorithms depending on the cutter:
if (cu.r == 0)
{
// this is the flat endmill case
// it is easier and faster than the general case, so we handle it separately
if (l > cu.R) // edge is outside of the cutter
return null;
else // we are inside the cutter
{ // so calculate CC point
double xc1 = Math.Sqrt(Math.Pow(cu.R, 2) - Math.Pow(l, 2));
double xc2 = -xc1;
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// choose the higher point
double zc,xc;
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
// now that we have a CC point, check if it's in the edge
if ((start.x > xc) && (xc < end.x))
return null;
else if ((end.x < xc) && (xc > start.x))
return null;
else
return zc;
}
// unreachable place (according to compiler)
} // end of flat endmill (r=0) case
else if (cu.r > 0)
{
// System.Console.WriteLine("edgetest r>0 case!");
// this is the general case (r>0) ball-nose or bull-nose (spherical or toroidal)
// later a separate case for the ball-cutter might be added (for performance)
double xd=0, w=0, h=0, xd1=0, xd2=0, xc=0 , ze=0, zc=0;
if (l > cu.R) // edge is outside of the cutter
return null;
else if (((cu.R-cu.r)<l)&&(l<=cu.R))
{ // toroidal case
xd=0; // center of ellipse
w=Math.Sqrt(Math.Pow(cu.R,2)-Math.Pow(l,2)); // width of ellipse
h=Math.Sqrt(Math.Pow(cu.r,2)-Math.Pow((l-(cu.R-cu.r)),2)); // height of ellipse
}
else if ((cu.R-cu.r)>=l)
{
// quarter ellipse case
xd1=Math.Sqrt( Math.Pow((cu.R-cu.r),2)-Math.Pow(l,2));
xd2=-xd1;
h=cu.r; // ellipse height
w=Math.Sqrt( Math.Pow(cu.R,2)-Math.Pow(l,2) )- Math.Sqrt( Math.Pow((cu.R-cu.r),2)-Math.Pow(l,2) ); // ellipse height
}
// now there is a special case where the theta calculation will fail if
// the segment is horziontal, i.e. start.z==end.z so we need to catch that here
if (start.z==end.z)
{
if ((cu.R-cu.r)<l)
{
// half-ellipse case
xc=0;
h=Math.Sqrt(Math.Pow(cu.r,2)-Math.Pow((l-(cu.R-cu.r)),2));
ze = start.z + h - cu.r;
}
else if ((cu.R - cu.r) > l)
{
// quarter ellipse case
xc = 0;
ze = start.z;
}
// now we have a CC point
// so we need to check if the CC point is in the edge
if (isinrange(start.x, end.x, xc))
return ze;
else
return null;
} // end horizontal edge special case
// now the general case where the theta calculation works
double theta = Math.Atan( h*(start.x-end.x)/(w*(start.z-end.z)) );
// based on this calculate the CC point
if (((cu.R - cu.r) < l) && (cu.R <= l))
{
// half-ellipse case
double xc1 = xd + Math.Abs(w * Math.Cos(theta));
double xc2 = xd - Math.Abs(w * Math.Cos(theta));
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// select the higher point:
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
}
else if ((cu.R - cu.r) > l)
{
// quarter ellipse case
double xc1 = xd1 + Math.Abs(w * Math.Cos(theta));
double xc2 = xd2 - Math.Abs(w * Math.Cos(theta));
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// select the higher point:
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
}
// now we have a valid xc value, so calculate the ze value:
ze = zc + Math.Abs(h * Math.Sin(theta)) - cu.r;
// finally, check that the CC point is in the edge
if (isinrange(start.x,end.x,xc))
return ze;
else
return null;
// this line is unreachable (according to compiler)
} // end of toroidal/spherical case
// if we ever get here it is probably a serious error!
System.Console.WriteLine("EdgeTest: ERROR: no case returned a valid ze!");
return null;
}
public static double? VertexTest(Cutter c,Point e, Point p)
{
// c.R and c.r define the cutter
// e.x and e.y is the xy-position of the cutter (e.z is ignored)
// p is the vertex tested against
// q is the distance along xy-plane from e to vertex
double q = Math.Sqrt(Math.Pow(e.x - p.x, 2) + Math.Pow((e.y - p.y), 2));
if (q > c.R)
{
// vertex is outside cutter. no need to do anything!
return null;
}
else if (q <= (c.R - c.r))
{
// vertex is in the cylindical/flat part of the cutter
return p.z;
}
else if ((q > (c.R - c.r)) && (q <= c.R))
{
// vertex is in the toroidal part of the cutter
double h2 = Math.Sqrt(Math.Pow(c.r, 2) - Math.Pow((q - (c.R - c.r)), 2));
double h1 = c.r - h2;
return p.z - h1;
}
else
{
// SERIOUS ERROR, we should not be here!
System.Console.WriteLine("DropCutter: VertexTest: ERROR!");
return null;
}
}
public static double? FacetTest(Cutter cu, Point e, Tri t)
{
// local copy of the surface normal
t.recalc_normals(); // don't trust the pre-calculated normal! calculate it separately here.
Vector n = new Vector(t.n.x, t.n.y, t.n.z);
Point cc;
if (n.z == 0)
{
// vertical plane, can't touch cutter against that!
return null;
}
else if (n.z < 0)
{
// flip the normal so it points up (? is this always required?)
n = -1*n;
}
// define plane containing facet
double a = n.x;
double b = n.y;
double c = n.z;
double d = - n.x * t.p[0].x - n.y * t.p[0].y - n.z * t.p[0].z;
// the z-direction normal is a special case (?required?)
// in debug phase, see if this is a useful case!
if ((a == 0) && (b == 0))
{
// System.Console.WriteLine("facet-test:z-dir normal case!");
e.z = t.p[0].z;
cc = new Point(e.x,e.y,e.z);
if (isinside(t, cc))
{
// System.Console.WriteLine("facet-test:z-dir normal case!, returning {0}",e.z);
// System.Console.ReadKey();
return e.z;
}
else
return null;
}
// System.Console.WriteLine("facet-test:general case!");
// facet test general case
// uses trigonometry, so might be too slow?
// flat endmill and ballnose should be simple to do without trig
// toroidal case might require offset-ellipse idea?
/*
theta = asin(c);
zf= -d/c - (a*xe+b*ye)/c+ (R-r)/tan(theta) + r/sin(theta) -r;
e=[xe ye zf];
u=[0 0 1];
rc=e + ((R-r)*tan(theta)+r)*u - ((R-r)/cos(theta) + r)*n;
t=isinside(p1,p2,p3,rc);
*/
double theta = Math.Asin(c);
double zf = -d/c - (a*e.x+b*e.y)/c + (cu.R-cu.r)/Math.Tan(theta) + cu.r/Math.Sin(theta) - cu.r;
Vector ve = new Vector(e.x,e.y,zf);
Vector u = new Vector(0,0,1);
Vector rc = new Vector();
rc = ve +((cu.R-cu.r)*Math.Tan(theta)+cu.r)*u - ((cu.R-cu.r)/Math.Cos(theta)+cu.r)*n;
/*
if (rc.z > 1000)
System.Console.WriteLine("z>1000 !");
*/
cc = new Point(rc.x, rc.y, rc.z);
// check that CC lies in plane:
// a*rc(1)+b*rc(2)+c*rc(3)+d
double test = a * cc.x + b * cc.y + c * cc.z + d;
if (test > 0.000001)
System.Console.WriteLine("FacetTest ERROR! CC point not in plane");
if (isinside(t, cc))
{
if (Math.Abs(zf) > 100)
{
System.Console.WriteLine("serious problem... at" +e.x + "," + e.y);
}
return zf;
}
else
return null;
}
} // end VertexTest
public static double? FacetTest(Cutter cu, Geo.Point e, Geo.Tri t)
{
// local copy of the surface normal
t.recalc_normals(); // don't trust the pre-calculated normal! calculate it separately here.
Vector n = new Vector(t.n.x, t.n.y, t.n.z);
Geo.Point cc;
if (n.z == 0)
{
// vertical plane, can't touch cutter against that!
return null;
}
else if (n.z < 0)
{
// flip the normal so it points up (? is this always required?)
n = -1*n;
}
// define plane containing facet
double a = n.x;
double b = n.y;
double c = n.z;
double d = - n.x * t.p[0].x - n.y * t.p[0].y - n.z * t.p[0].z;
// the z-direction normal is a special case (?required?)
// in debug phase, see if this is a useful case!
if ((a == 0) && (b == 0))
{
// System.Console.WriteLine("facet-test:z-dir normal case!");
e.z = t.p[0].z;
cc = new Geo.Point(e.x,e.y,e.z);
if (isinside(t, cc))
{
// System.Console.WriteLine("facet-test:z-dir normal case!, returning {0}",e.z);
// System.Console.ReadKey();
return e.z;
}
else
return null;
}
// System.Console.WriteLine("facet-test:general case!");
// facet test general case
// uses trigonometry, so might be too slow?
// flat endmill and ballnose should be simple to do without trig
// toroidal case might require offset-ellipse idea?
/*
theta = asin(c);
zf= -d/c - (a*xe+b*ye)/c+ (R-r)/tan(theta) + r/sin(theta) -r;
e=[xe ye zf];
u=[0 0 1];
rc=e + ((R-r)*tan(theta)+r)*u - ((R-r)/cos(theta) + r)*n;
t=isinside(p1,p2,p3,rc);
*/
double theta = Math.Asin(c);
double zf = -d/c - (a*e.x+b*e.y)/c + (cu.R-cu.r)/Math.Tan(theta) + cu.r/Math.Sin(theta) - cu.r;
Vector ve = new Vector(e.x,e.y,zf);
Vector u = new Vector(0,0,1);
Vector rc = new Vector();
rc = ve +((cu.R-cu.r)*Math.Tan(theta)+cu.r)*u - ((cu.R-cu.r)/Math.Cos(theta)+cu.r)*n;
/*
if (rc.z > 1000)
System.Console.WriteLine("z>1000 !");
*/
cc = new Geo.Point(rc.x, rc.y, rc.z);
// check that CC lies in plane:
// a*rc(1)+b*rc(2)+c*rc(3)+d
double test = a * cc.x + b * cc.y + c * cc.z + d;
if (test > 0.000001)
System.Console.WriteLine("FacetTest ERROR! CC point not in plane");
if (isinside(t, cc))
{
if (Math.Abs(zf) > 100)
{
System.Console.WriteLine("serious problem... at" +e.x + "," + e.y);
}
return zf;
}
else
return null;
} // end FacetTest
} // end FacetTest
public static double? EdgeTest(Cutter cu, Geo.Point e, Geo.Point p1, Geo.Point p2)
{
// contact cutter against edge from p1 to p2
// translate segment so that cutter is at (0,0)
Geo.Point start = new Geo.Point(p1.x - e.x, p1.y - e.y, p1.z);
Geo.Point end = new Geo.Point(p2.x - e.x, p2.y - e.y, p2.z);
// find angle btw. segment and X-axis
double dx = end.x - start.x;
double dy = end.y - start.y;
double alfa;
if (dx != 0)
alfa = Math.Atan(dy / dx);
else
alfa = Math.PI / 2;
//alfa = -alfa;
// rotation matrix for rotation around z-axis:
// should probably implement a matrix class later
// rotate by angle alfa
// need copy of data that does not change as we go through each line:
double sx = start.x, sy = start.y, ex = end.x, ey = end.y;
start.x = sx * Math.Cos(alfa) + sy * Math.Sin(alfa);
start.y = -sx * Math.Sin(alfa) + sy * Math.Cos(alfa);
end.x = ex * Math.Cos(alfa) + ey * Math.Sin(alfa);
end.y = -ex * Math.Sin(alfa) + ey * Math.Cos(alfa);
// check if segment is below cutter
if (start.y > 0)
{
alfa = alfa+Math.PI;
start.x = sx * Math.Cos(alfa) + sy * Math.Sin(alfa);
start.y = -sx * Math.Sin(alfa) + sy * Math.Cos(alfa);
end.x = ex * Math.Cos(alfa) + ey * Math.Sin(alfa);
end.y = -ex * Math.Sin(alfa) + ey * Math.Cos(alfa);
}
if (Math.Abs(start.y-end.y)>0.0000001)
{
System.Console.WriteLine("EdgeTest ERROR! (start.y - end.y) = " +(start.y-end.y));
return null;
}
double l = -start.y; // distance from cutter to edge
if (l < 0)
System.Console.WriteLine("EdgeTest ERROR! l<0 !");
// System.Console.WriteLine("l=" + l+" start.y="+start.y+" end.y="+end.y);
// now we have two different algorithms depending on the cutter:
if (cu.r == 0)
{
// this is the flat endmill case
// it is easier and faster than the general case, so we handle it separately
if (l > cu.R) // edge is outside of the cutter
return null;
else // we are inside the cutter
{ // so calculate CC point
double xc1 = Math.Sqrt(Math.Pow(cu.R, 2) - Math.Pow(l, 2));
double xc2 = -xc1;
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// choose the higher point
double zc,xc;
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
// now that we have a CC point, check if it's in the edge
if ((start.x > xc) && (xc < end.x))
return null;
else if ((end.x < xc) && (xc > start.x))
return null;
else
return zc;
}
// unreachable place (according to compiler)
} // end of flat endmill (r=0) case
else if (cu.r > 0)
{
// System.Console.WriteLine("edgetest r>0 case!");
// this is the general case (r>0) ball-nose or bull-nose (spherical or toroidal)
// later a separate case for the ball-cutter might be added (for performance)
double xd=0, w=0, h=0, xd1=0, xd2=0, xc=0 , ze=0, zc=0;
if (l > cu.R) // edge is outside of the cutter
return null;
else if (((cu.R-cu.r)<l)&&(l<=cu.R))
{ // toroidal case
xd=0; // center of ellipse
w=Math.Sqrt(Math.Pow(cu.R,2)-Math.Pow(l,2)); // width of ellipse
h=Math.Sqrt(Math.Pow(cu.r,2)-Math.Pow((l-(cu.R-cu.r)),2)); // height of ellipse
}
else if ((cu.R-cu.r)>=l)
{
// quarter ellipse case
xd1=Math.Sqrt( Math.Pow((cu.R-cu.r),2)-Math.Pow(l,2));
xd2=-xd1;
h=cu.r; // ellipse height
w=Math.Sqrt( Math.Pow(cu.R,2)-Math.Pow(l,2) )- Math.Sqrt( Math.Pow((cu.R-cu.r),2)-Math.Pow(l,2) ); // ellipse height
}
// now there is a special case where the theta calculation will fail if
// the segment is horziontal, i.e. start.z==end.z so we need to catch that here
if (start.z==end.z)
{
if ((cu.R-cu.r)<l)
{
// half-ellipse case
xc=0;
h=Math.Sqrt(Math.Pow(cu.r,2)-Math.Pow((l-(cu.R-cu.r)),2));
ze = start.z + h - cu.r;
}
else if ((cu.R - cu.r) > l)
{
// quarter ellipse case
xc = 0;
ze = start.z;
}
// now we have a CC point
// so we need to check if the CC point is in the edge
if (isinrange(start.x, end.x, xc))
return ze;
else
return null;
} // end horizontal edge special case
// now the general case where the theta calculation works
double theta = Math.Atan( h*(start.x-end.x)/(w*(start.z-end.z)) );
// based on this calculate the CC point
if (((cu.R - cu.r) < l) && (cu.R <= l))
{
// half-ellipse case
double xc1 = xd + Math.Abs(w * Math.Cos(theta));
double xc2 = xd - Math.Abs(w * Math.Cos(theta));
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// select the higher point:
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
}
else if ((cu.R - cu.r) > l)
{
// quarter ellipse case
double xc1 = xd1 + Math.Abs(w * Math.Cos(theta));
double xc2 = xd2 - Math.Abs(w * Math.Cos(theta));
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// select the higher point:
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
}
// now we have a valid xc value, so calculate the ze value:
ze = zc + Math.Abs(h * Math.Sin(theta)) - cu.r;
// finally, check that the CC point is in the edge
if (isinrange(start.x,end.x,xc))
return ze;
else
return null;
// this line is unreachable (according to compiler)
} // end of toroidal/spherical case
// if we ever get here it is probably a serious error!
System.Console.WriteLine("EdgeTest: ERROR: no case returned a valid ze!");
return null;
} // end of EdgeTest method
public static void search_kdtree(List <Tri> tlist, Point p, Cutter c, kd_node node)
{
ns += 1;
if (node.tris != null)
{
if (node.tris.Count > 0)
{ // add all triangles of a bucket node
foreach (Tri t in node.tris)
{
// check that t belongs
if ((p.x + c.R) < t.bb.minx)
{
return;
}
else if ((p.x - c.R) > t.bb.maxx)
{
return;
}
else if ((p.y + c.R) < t.bb.miny)
{
return;
}
else if ((p.y - c.R) > t.bb.maxy)
{
return;
}
else
{
tlist.Add(t);
}
}
return;
}
}
switch (node.dim)
{
case 0: // cut along xplus
if (node.cutval <= p.x - c.R)
{
search_kdtree(tlist, p, c, node.hi);
}
else
{
search_kdtree(tlist, p, c, node.hi);
search_kdtree(tlist, p, c, node.lo);
}
break;
case 1: // cut along xminus
if (node.cutval >= p.x + c.R)
{
search_kdtree(tlist, p, c, node.lo);
}
else
{
search_kdtree(tlist, p, c, node.hi);
search_kdtree(tlist, p, c, node.lo);
}
break;
case 2: // cut along yplus
if (node.cutval <= p.y - c.R)
{
search_kdtree(tlist, p, c, node.hi);
}
else
{
search_kdtree(tlist, p, c, node.hi);
search_kdtree(tlist, p, c, node.lo);
}
break;
case 3: // cut along yminus
if (node.cutval >= p.y + c.R)
{
search_kdtree(tlist, p, c, node.lo);
}
{
search_kdtree(tlist, p, c, node.hi);
search_kdtree(tlist, p, c, node.lo);
}
break;
}
return;
}
public static void stlmachine(STLSurf s, GeoCollection g)
{
List<Point> pointlist=new List<Point>();
// seems to work...
// foreach (Geo.Tri t in s.tris)
// System.Console.WriteLine("loop1 triangles " + t);
// System.Console.ReadKey();
// recalculate normal data
// create bounding box data
foreach (Tri t in s.tris)
{
t.recalc_normals(); // FIXME why don't new values stick??
t.calc_bbox(); // FIXME: why doen't bb-data 'stick' ??
}
/*
// FIXME: if we check bb-data here it is gone!!(??)
foreach (Geo.Tri t in s.tris)
{
System.Console.WriteLine("loop2 triangles " + t);
System.Console.WriteLine("loop2 direct maxx" + t.bb.maxx + " minx:" + t.bb.minx);
}
System.Console.ReadKey();
*/
// find bounding box (this should probably be done in the STLSurf class?)
double minx = 0, maxx = 10, miny = 0, maxy = 10;
// generate XY pattern (a general zigzag-strategy, needed also for pocketing)
// store in a list called pointlist
double Nx=30;
double Ny=40;
double dx=(maxx-minx)/(double)(Nx-1);
double dy = (maxy - miny) / (double)(Ny-1);
double x = minx;
for (int n = 0; n < Nx; n++)
{
if (n%2==0)
{
double y = miny;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Point(x,y,5));
// System.Console.WriteLine("x:"+x+" y:"+y);
y += dy; // go forward in the y-axis direction
// System.Console.ReadKey();
}
}
else
{
double y = maxy;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Point(x,y,5));
//System.Console.WriteLine("x:" + x + " y:" + y);
y -= dy; // go backward in the y-axis direction
//System.Console.ReadKey();
}
}
x += dx;
}
// drop cutter (i.e. add z-data)
double R=1,r=0.2; // this is the cutter definition
Cutter cu = new Cutter(R,r);
List<Point> drop_points = new List<Point>();
double redundant = 0; // number of unneccesary calls to drop-cutter
double checks = 0; // number of relevant calls
// build the kd-tree
Stopwatch st = new Stopwatch();
Console.WriteLine("Building kd-tree. Stopwatch start");
st.Start();
kd_node root;
root = kdtree.build_kdtree(s.tris);
st.Stop();
Console.WriteLine("Elapsed = {0}", st.Elapsed.ToString());
// FIXME: these calls to drop-cutter are independent of each other
// thus the points could/should be divided into many subsets
// and each subset is processed by a seprarate thread
// this should give a substantial speedup on multi-core cpus
Console.WriteLine("Running drop-cutter. Stopwatch start");
st.Start();
foreach (Point p in pointlist) // loop through each point
{
double? v1 = null,v2=null,v3=null,z_new=null,f=null,e1=null,e2=null,e3=null;
// store the possible z-values in this list
// the highest one of these should be chosen in the end
List<double> zlist = new List<double>();
// find triangles under cutter using kd-tree
int mode = 1;
List<Tri> tris_to_search = new List<Tri>();
if (mode == 0)
{
tris_to_search = s.tris;
}
else if (mode == 1)
{
kdtree.search_kdtree(tris_to_search, p, cu, root);
}
//Console.WriteLine("searching {0} tris",tris_to_search.Count);
//Console.ReadKey();
// loop through each triangle
foreach (Tri t in tris_to_search)
{
checks++;
t.calc_bbox(); // FIXME: why do we have to re-calculate bb-data here??
//System.Console.WriteLine("testing triangle" + t);
// here are four ways the triangle bounding box can be
// outside the cutter bounding box
// redundant could be used to test the performance of bucketing/kd-tree
if (t.bb.minx > (p.x + cu.R))
{
redundant++;
continue;
}
else if (t.bb.maxx < (p.x - cu.R))
{
redundant++;
continue;
}
if (t.bb.miny > (p.y + cu.R))
{
redundant++;
continue;
}
if (t.bb.maxy < (p.y - cu.R))
{
redundant++;
continue;
}
// test cutter against each vertex
v1 = DropCutter.VertexTest(cu, p, t.p[0]);
v2 = DropCutter.VertexTest(cu, p, t.p[1]);
v3 = DropCutter.VertexTest(cu, p, t.p[2]);
if (v2 != null)
{
zlist.Add((double)v2);
}
if (v1 != null)
{
zlist.Add((double)v1);
}
if (v3 != null)
{
zlist.Add((double)v3);
}
// test cutter against facet
f = DropCutter.FacetTest(cu, p, t);
if (f != null)
{
zlist.Add((double)f);
}
// test cutter against each edge
e1 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[1]);
e2 = DropCutter.EdgeTest(cu, p, t.p[1], t.p[2]);
e3 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[2]);
if (e1 != null)
zlist.Add((double)e1);
if (e2 != null)
zlist.Add((double)e2);
if (e3 != null)
zlist.Add((double)e3);
// now we have some suggestions for z in zlist
// by sorting it we get the highest one at the end of the list
zlist.Sort();
// if there's anything in the list, return the last element
if (zlist.Count > 0)
z_new = zlist[zlist.Count-1];
} // end triangle loop
// we've gone through all triangles for this XY-location
// if we found a z-value, let's add the valid cutter location
// to a list drop_points
if (z_new != null)
{
drop_points.Add(new Point(p.x, p.y, (double)z_new));
}
} // end point-list loop
st.Stop();
Console.WriteLine("Elapsed = {0}", st.Elapsed.ToString());
// print some statistics:
System.Console.WriteLine("checked: "+ checks + " redundant: " + redundant);
double fraction=(100*(double)(checks-redundant)/(double)checks);
System.Console.WriteLine("relevant: "+(checks-redundant) + " ("+fraction.ToString("N3")+"%)");
// FIXME: now a toolpath object should be created
// that has rapids/feeds according to the points calculated above
int i = 1;
Point p0=new Point();
// this is needed so we get decimal points, not commas
System.Globalization.CultureInfo glob = new System.Globalization.CultureInfo("en-GB");
Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-GB");
foreach (Point p in drop_points)
{
if (i == 1) // first move
{
p0 = new Point(p.x, p.y, 12);
camtest.outfile.WriteLine("Cylinder");
camtest.outfile.WriteLine("{0},{1},{2}", p0.x.ToString("0.000", glob), p0.y.ToString("0.000", glob), p0.z.ToString("0.000", glob));
camtest.outfile.WriteLine("{0}", 0.01.ToString("0.000", glob));
camtest.outfile.WriteLine("{0},{1},{2}", p.x.ToString("0.000", glob), p.y.ToString("0.000", glob), p.z.ToString("0.000", glob));
Line l = new Line(p0, p);
g.add(l); // ADD geometry to toolpath
p0 = p;
}
else
{
camtest.outfile.WriteLine("Cylinder");
camtest.outfile.WriteLine("{0},{1},{2}", p0.x.ToString("0.000", glob), p0.y.ToString("0.000", glob), p0.z.ToString("0.000", glob));
camtest.outfile.WriteLine("{0}", 0.01.ToString("0.000", glob));
camtest.outfile.WriteLine("{0},{1},{2}", p.x.ToString("0.000", glob), p.y.ToString("0.000", glob), p.z.ToString("0.000", glob));
Line l = new Line(p0, p);
g.add(l); // ADD geometry to toolpath
p0 = p;
}
i++;
}
}
public static void stlmachine(GLWindow g, STLSurf s)
{
List <Geo.Point> pointlist = new List <Geo.Point>();
// seems to work...
// foreach (Geo.Tri t in s.tris)
// System.Console.WriteLine("loop1 triangles " + t);
// System.Console.ReadKey();
// recalculate normal data
// create bounding box data
foreach (Geo.Tri t in s.tris)
{
t.recalc_normals(); // FIXME why don't new values stick??
t.calc_bbox(); // FIXME: why doen't bb-data 'stick' ??
}
/*
* // FIXME: if we check bb-data here it is gone!!(??)
* foreach (Geo.Tri t in s.tris)
* {
* System.Console.WriteLine("loop2 triangles " + t);
* System.Console.WriteLine("loop2 direct maxx" + t.bb.maxx + " minx:" + t.bb.minx);
* }
* System.Console.ReadKey();
*/
// find bounding box (this should probably be done in the STLSurf class?)
double minx = 0, maxx = 10, miny = 0, maxy = 10;
// generate XY pattern (a general zigzag-strategy, needed also for pocketing)
double Nx = 50;
double Ny = 50;
double dx = (maxx - minx) / (double)(Nx - 1);
double dy = (maxy - miny) / (double)(Ny - 1);
double x = minx;
for (int n = 0; n < Nx; n++)
{
if (n % 2 == 0)
{
double y = miny;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Geo.Point(x, y, 5));
// System.Console.WriteLine("x:"+x+" y:"+y);
y += dy;
// System.Console.ReadKey();
}
}
else
{
double y = maxy;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Geo.Point(x, y, 5));
//System.Console.WriteLine("x:" + x + " y:" + y);
y -= dy;
//System.Console.ReadKey();
}
}
x += dx;
}
// drop cutter (i.e. add z-data)
double R = 1, r = 0.2;
Cutter cu = new Cutter(R, r);
List <Geo.Point> drop_points = new List <Geo.Point>();
double redundant = 0;
double checks = 0;
foreach (Geo.Point p in pointlist)
{
double? v1 = null, v2 = null, v3 = null, z_new = null, f = null, e1 = null, e2 = null, e3 = null;
List <double> zlist = new List <double>();
foreach (Geo.Tri t in s.tris)
{
checks++;
t.calc_bbox(); // why do we have to re-calculate bb-data here??
//System.Console.WriteLine("testing triangle" + t);
if (t.bb.minx > (p.x + cu.R))
{
redundant++;
continue;
}
else if (t.bb.maxx < (p.x - cu.R))
{
redundant++;
continue;
}
if (t.bb.miny > (p.y + cu.R))
{
redundant++;
continue;
}
if (t.bb.maxy < (p.y - cu.R))
{
redundant++;
continue;
}
v1 = DropCutter.VertexTest(cu, p, t.p[0]);
v2 = DropCutter.VertexTest(cu, p, t.p[1]);
v3 = DropCutter.VertexTest(cu, p, t.p[2]);
if (v2 != null)
{
zlist.Add((double)v2);
}
if (v1 != null)
{
zlist.Add((double)v1);
}
if (v3 != null)
{
zlist.Add((double)v3);
}
f = DropCutter.FacetTest(cu, p, t);
if (f != null)
{
zlist.Add((double)f);
}
e1 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[1]);
e2 = DropCutter.EdgeTest(cu, p, t.p[1], t.p[2]);
e3 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[2]);
if (e1 != null)
{
zlist.Add((double)e1);
}
if (e2 != null)
{
zlist.Add((double)e2);
}
if (e3 != null)
{
zlist.Add((double)e3);
}
/*
* if (zlist.Count > 1)
* {
* System.Console.Write("Before: ");
* foreach (double d in zlist)
* System.Console.Write(d.ToString() + " ");
* System.Console.Write("\n");
* }
*/
zlist.Sort();
/*
* if (zlist.Count > 2)
* {
* System.Console.Write("After: ");
* foreach (double d in zlist)
* System.Console.Write(d.ToString() + " ");
* System.Console.Write("\n");
* }
*/
// System.Console.Write("Sorted: ");
// foreach (double d in zlist)
// System.Console.Write(d.ToString() + " ");
// System.Console.Write("\n");
if (zlist.Count > 0)
{
z_new = zlist[zlist.Count - 1];
}
/*
* if (zlist.Count > 1)
* System.Console.WriteLine("chosen: " + z_new);
*/
// System.Console.ReadKey();
} // end triangle loop
if (z_new != null)
{
drop_points.Add(new Geo.Point(p.x, p.y, (double)z_new));
}
} // end point-list loop
System.Console.WriteLine("checked: " + checks + " redundant: " + redundant);
System.Console.WriteLine("relevant: " + (checks - redundant) + " (" + 100 * (double)(checks - redundant) / (double)checks + "%)");
// check to see that STL has not changed
// display drop-points
int i = 1;
Geo.Point p0 = new Geo.Point();
foreach (Geo.Point p in drop_points)
{
if (i == 1) // first move
{
p0 = new Geo.Point(p.x, p.y, 10);
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Yellow;
g.addGeom(l);
p0 = p;
}
else // don't do anything for last move
{
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Magenta;
g.addGeom(l);
p0 = p;
}
i++;
/*
* GeoPoint pg = new GeoPoint(p);
* pg.color = System.Drawing.Color.Aqua;
* g.addGeom(pg);
*/
}
// display zigzag and points
/*
* i = 1;
* foreach (Geo.Point p in pointlist)
* {
* if (i == 1)
* {
* p0 = new Geo.Point(p.x, p.y, 10);
* GeoLine l = new GeoLine(p0, p);
* l.color = System.Drawing.Color.Yellow;
* g.addGeom(l);
* p0 = p;
* }
* else
* {
* GeoLine l = new GeoLine(p0, p);
* l.color = System.Drawing.Color.Cyan;
* g.addGeom(l);
* p0 = p;
* }
* i++;
* }
*/
// dummy test:
/*
* foreach (Geo.Tri t in s.tris)
* {
* GeoPoint p = new GeoPoint(t.p[0].x, t.p[0].y, t.p[0].z);
* pointlist.Add(p);
* }
*/
}